ロボティクス応用におけるリアルタイム制約維持のための環境認識型動的5G QoS
Environmental Awareness Dynamic 5G QoS for Retaining Real Time Constraints in Robotic Applications
5G対応UAVが状況に応じて優先度の異なるQoSデータフローを動的に切り替える枠組みを提案し、実機の5G SA網で有効性を検証した。
著者: Gerasimos Damigos, Akshit Saradagi, Sara Sandberg, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
The fifth generation (5G) cellular network technology is mature and increasingly utilized in many industrial and robotics applications, while an important functionality is the advanced Quality of Service (QoS) features. Despite the prevalence of 5G QoS discussions in the related literature, there is a notable absence of real-life implementations and studies concerning their application in time-critical robotics scenarios. This article considers the operation of time-critical applications for 5G-enabled unmanned aerial vehicles (UAVs) and how their operation can be improved by the possibility to dynamically switch between QoS data flows with different priorities. As such, we introduce a robotics oriented analysis on the impact of the 5G QoS functionality on the performance of 5G-enabled UAVs. Furthermore, we introduce a novel framework for the dynamic selection of distinct 5G QoS data flows that is autonomously managed by the 5G-enabled UAV. This problem is addressed in a novel feedback loop fashion utilizing a probabilistic finite state machine (PFSM). Finally, the efficacy of the proposed scheme is experimentally validated with a 5G-enabled UAV in a real-world 5G stand-alone (SA) network.
