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Project # 41
Real-Time Multi-Robot Coordination using 5G O-RAN Testbed
| Team Lead: | Fuhad Foesal Ahmed |
| Other Team Members: | Eber Barrientos |
| Faculty Advisor(s): | Debashri Roy |
| Department: | CSE |
| Project Type: | REU |
| Title: | Real-Time Multi-Robot Coordination using 5G O-RAN Testbed |
| Abstract: | This REU project builds a real-time multi-robot networking system over an ORANSlice on a 5G Open RAN (O-RAN) testbed to enable reliable coordination in a dynamic load environment. Our system combines ROS 2 robots with 5G RAN based on OAI and Near-RT RIC to allow the applications to control network slices. The things that are being discussed in here is learning-based one that measure QoS indicators (latency, jitter, packet delivery, and radio/load indicators) and modulate slice scheduling and prioritization according to the needs of the robot telemetry and sensing streams in mobility, congestion and fault conditions. In addition to network performance, we also measure the similarity in end-to-end perception between the network streamed YDLIDAR data and the obtained/reconstructed YDLIDAR data at the server and client robots, which gives a quantitative measure of the impact of transport, buffering, and compression or encoding options. Experiments between sliced and unsliced 5G control with background traffic and injected disruptions illustrate how O-RAN slicing and closed-loop control have the potential to enhance the reliability of communication and sensor-stream of multi-robot systems. |
| Poster: | View Poster #41 (PDF) |
| Judges Scoring: | Submit Evaluation (judges only) |