When trying to connect to computers in your home network through Windows Home Server 2011's Remote Desktop Gateway feature you get error message:
Your computer cant connect to the remote computer because no certificate was configured to use at the Remote Desktop Gateway server. Contact your network administrator for assistance
You have generated custom certificate for your domain (not self-signed), or you may have bought a real certificate but anyway you have configured to use that certificate in IIS instead of letting WHS take charge of things.
You need to assign existing SSL certificate to the Remote Desktop Gateway manually in the RDG console. That console is not installed by default in WHS 2011, so you need to first install that role, then pick a certificate.
Not to repeat what has already been said, configure your browser to Paul Sterley's great article on how to get this done.