A Low-Latency Wireless Network for Cloud-Based Robot Control
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We demonstrate a reliable network for robot remote control in which a cross-layer PHY-MAC architecture is exploited to establish a low-latency and time-critical data transmission. In our demo, three reverse pendulum robots share the spectrum to communicate their sensory data to a processing unit which can instantly generate and transmit appropriate commands to maintain the robots’ balance.
To this end, we upgrade CLAWS (Cross-Layer Adaptable Wireless System) with a two-layer MAC platform which accelerates and facilities interrupt handling. To grant the network operational reliability, we elaborately coupled the FPGA-based IEEE 802.15.4 PHY in the CLAWS architecture with a set of hardware blocks that play the role of the low-level MAC. CLAWS also offers a run-time programmable module in which we deploy the high-level functionalities of the MAC protocol. Jointly with the implemented bi-layer MAC structure, we demonstrate how the CLAWS’ flexibility allows either standard compliant or ad-hoc network prototyping to establish a reliable cloud-based robot remote control.
KeywordsSoftware-defined radio Cross-layer architecture Cloud-based processing
This work was partially funded by the European Union’s Horizon 2020 under grant agreement no. 732174 (ORCA project).
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