You can do SSH from the robot to a host, and keep it alive with autoSSH. Add a reverse tunnel for the web if you have a web interface on the device.

https://linux.die.net/man/1/autossh

Few notes: manually add host machine key on first use. I add the parameters:

    autossh -M 0 -o "ServerAliveInterval 30" -o "ServerAliveCountMax 3"