Energy-aware Joint Orchestration of 5G and Robots: Experimental Testbed and Field Validation
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arXiv
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| Format: | Preprint |
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2025
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| author | Groshev, Milan Zanzi, Lanfranco Delgado, Carmen Li, Xi de la Oliva, Antonio Costa-Perez, Xavier |
| author_facet | Groshev, Milan Zanzi, Lanfranco Delgado, Carmen Li, Xi de la Oliva, Antonio Costa-Perez, Xavier |
| contents | 5G mobile networks introduce a new dimension for connecting and operating mobile robots in outdoor environments, leveraging cloud-native and offloading features of 5G networks to enable fully flexible and collaborative cloud robot operations. However, the limited battery life of robots remains a significant obstacle to their effective adoption in real-world exploration scenarios. This paper explores, via field experiments, the potential energy-saving gains of OROS, a joint orchestration of 5G and Robot Operating System (ROS) that coordinates multiple 5G-connected robots both in terms of navigation and sensing, as well as optimizes their cloud-native service resource utilization while minimizing total resource and energy consumption on the robots based on real-time feedback. We designed, implemented and evaluated our proposed OROS in an experimental testbed composed of commercial off-the-shelf robots and a local 5G infrastructure deployed on a campus. The experimental results demonstrated that OROS significantly outperforms state-of-the-art approaches in terms of energy savings by offloading demanding computational tasks to the 5G edge infrastructure and dynamic energy management of on-board sensors (e.g., switching them off when they are not needed). This strategy achieves approximately 15% energy savings on the robots, thereby extending battery life, which in turn allows for longer operating times and better resource utilization. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_19613 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Energy-aware Joint Orchestration of 5G and Robots: Experimental Testbed and Field Validation Groshev, Milan Zanzi, Lanfranco Delgado, Carmen Li, Xi de la Oliva, Antonio Costa-Perez, Xavier Robotics Networking and Internet Architecture 5G mobile networks introduce a new dimension for connecting and operating mobile robots in outdoor environments, leveraging cloud-native and offloading features of 5G networks to enable fully flexible and collaborative cloud robot operations. However, the limited battery life of robots remains a significant obstacle to their effective adoption in real-world exploration scenarios. This paper explores, via field experiments, the potential energy-saving gains of OROS, a joint orchestration of 5G and Robot Operating System (ROS) that coordinates multiple 5G-connected robots both in terms of navigation and sensing, as well as optimizes their cloud-native service resource utilization while minimizing total resource and energy consumption on the robots based on real-time feedback. We designed, implemented and evaluated our proposed OROS in an experimental testbed composed of commercial off-the-shelf robots and a local 5G infrastructure deployed on a campus. The experimental results demonstrated that OROS significantly outperforms state-of-the-art approaches in terms of energy savings by offloading demanding computational tasks to the 5G edge infrastructure and dynamic energy management of on-board sensors (e.g., switching them off when they are not needed). This strategy achieves approximately 15% energy savings on the robots, thereby extending battery life, which in turn allows for longer operating times and better resource utilization. |
| title | Energy-aware Joint Orchestration of 5G and Robots: Experimental Testbed and Field Validation |
| topic | Robotics Networking and Internet Architecture |
| url | https://arxiv.org/abs/2503.19613 |