4.7 Article

Statistical Characterization of Closed-Loop Latency at the Mobile Edge

Journal

IEEE TRANSACTIONS ON COMMUNICATIONS
Volume 71, Issue 7, Pages 4391-4405

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCOMM.2023.3277523

Keywords

Mission-critical communications; teleoperation; real-time systems; telerobotics; human-machine interaction; mobile edge computing; low-latency high-reliability

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This paper presents a framework to analyze the latency of a closed-loop teleoperation system in mission-critical applications. It uses models of each component to analyze the latency and optimize the compression strategy. Non-convex optimization is used to minimize the closed-loop latency. The simulation results show the importance of considering individual components in system design to prevent under-provisioning and performance degradation.
The stringent timing and reliability requirements in mission-critical applications require a detailed statistical characterization of end-to-end latency. Teleoperation is a representative use case, in which a human operator (HO) remotely controls a robot by exchanging command and feedback signals. We present a framework to analyze the latency of a closed-loop teleoperation system consisting of three entities: an HO, a robot located in remote environment, and a Base Station (BS) with Mobile edge Computing (MEC) capabilities. A model of each component is used to analyze the closed-loop latency and optimize the compression strategy. The closed-form expression of the distribution of the closed-loop latency is difficult to estimate, such that suitable upper and lower bounds are obtained. We formulate a non-convex optimization problem to minimize the closed-loop latency. Using the obtained upper and lower bound on the closed-loop latency, a computationally efficient procedure to optimize the closed-loop latency is presented. The simulation results reveal that compression of sensing data is not always beneficial, while system design based on average performance leads to under-provisioning and may cause performance degradation. The applicability of the proposed analysis is much wider than teleoperation, including a large class of systems whose latency budget consists of many components.

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