arXiv subjects

Lanfranco Zanzi

Publications and source records attributed to Lanfranco Zanzi.

18 recordsLinked to original sources

arXiv2026

RIS Control through the Lens of Stochastic Network Calculus: An O-RAN Framework for Delay-Sensitive 6G Applications

Reconfigurable Intelligent Surfaces (RIS) enable dynamic electromagnetic control for 6G networks, but existing control schemes lack responsiveness to fast-varying network conditions, limiting their applicability for ultra-reliable low latency communications. This work addresses uplink delay minimization in multi-RIS scenarios with heterogeneous per-user latency and reliability demands. We propose Delay-Aware RIS Orchestrator (DARIO), an O-RAN-compliant framework that dynamically assigns RIS devices to users within short time windows, adapting to traffic fluctuations to meet per-user delay and reliability targets. DARIO relies on a novel Stochastic Network Calculus (SNC) model to analytically estimate the delay bound for each possible user-RIS assignment under specific traffic and service dynamics. These estimations are used by DARIO to formulate a Nonlinear Integer Program (NIP), for which an online heuristic provides near-optimal performance with low computational overhead. Extensive evaluations with simulations and real traffic traces show consistent delay reductions up to 95.7% under high load or RIS availability.

cs.NI↗

arXiv2026

MapViT: A Two-Stage ViT-Based Framework for Real-Time Radio Quality Map Prediction in Dynamic Environments

Recent advancements in mobile and wireless networks are unlocking the full potential of robotic autonomy, enabling robots to take advantage of ultra-low latency, high data throughput, and ubiquitous connectivity. However, for robots to navigate and operate seamlessly, efficiently and reliably, they must have an accurate understanding of both their surrounding environment and the quality of radio signals. Achieving this in highly dynamic and ever-changing environments remains a challenging and largely unsolved problem. In this paper, we introduce MapViT, a two-stage Vision Transformer (ViT)-based framework inspired by the success of pre-train and fine-tune paradigm for Large Language Models (LLMs). MapViT is designed to predict both environmental changes and expected radio signal quality. We evaluate the framework using a set of representative Machine Learning (ML) models, analyzing their respective strengths and limitations across different scenarios. Experimental results demonstrate that the proposed two-stage pipeline enables real-time prediction, with the ViT-based implementation achieving a strong balance between accuracy and computational efficiency. This makes MapViT a promising solution for energy- and resource-constrained platforms such as mobile robots. Moreover, the geometry foundation model derived from the self-supervised pre-training stage improves data efficiency and transferability, enabling effective downstream predictions even with limited labeled data. Overall, this work lays the foundation for next-generation digital twin ecosystems, and it paves the way for a new class of ML foundation models driving multi-modal intelligence in future 6G-enabled systems.

cs.NI↗

arXiv2025

Meta-reasoning Using Attention Maps and Its Applications in Cloud Robotics

Metareasoning, a branch of AI, focuses on reasoning about reasons. It has the potential to enhance robots' decision-making processes in unexpected situations. However, the concept has largely been confined to theoretical discussions and case-by-case investigations, lacking general and practical solutions when the Value of Computation (VoC) is undefined, which is common in unexpected situations. In this work, we propose a revised meta-reasoning framework that significantly improves the scalability of the original approach in unexpected situations. This is achieved by incorporating semantic attention maps and unsupervised 'attention' updates into the metareasoning processes. To accommodate environmental dynamics, 'lines of thought' are used to bridge context-specific objects with abstracted attentions, while meta-information is monitored and controlled at the meta-level for effective reasoning. The practicality of the proposed approach is demonstrated through cloud robots deployed in real-world scenarios, showing improved performance and robustness.

cs.RO↗

arXiv2025

Energy-aware Joint Orchestration of 5G and Robots: Experimental Testbed and Field Validation

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.

cs.RO↗

arXiv2025

MAREA: A Delay-Aware Multi-time-Scale Radio Resource Orchestrator for 6G O-RAN

The Open Radio Access Network (O-RAN)-compliant solutions often lack crucial details for implementing effective control loops at various time scales. To overcome this, we introduce MAREA, an O-RAN-compliant mathematical framework designed for the allocation of radio resources to multiple ultra-Reliable Low Latency Communication (uRLLC) services. In the near-real-time (RT) control loop, MAREA employs a novel Martingales-based model to determine the guaranteed radio resources for each uRLLC service. Unlike traditional queueing theory approaches, this model ensures that the probability of packet transmission delays exceeding a predefined threshold -- the violation probability -- remains below a target tolerance. Additionally, MAREA uses a real-time control loop to monitor transmission queues and dynamically adjust guaranteed radio resources in response to traffic anomalies. To the best of our knowledge, MAREA is the first O-RAN-compliant solution that leverages Martingales for both near-RT and RT control loops. Simulations demonstrate that MAREA significantly outperforms reference solutions, achieving an average violation probability that is x10 lower.

cs.NI↗

arXiv2025

Network Digital Twin for 5G-Enabled Mobile Robots

The maturity and commercial roll-out of 5G networks and its deployment for private networks makes 5G a key enabler for various vertical industries and applications, including robotics. Providing ultra-low latency, high data rates, and ubiquitous coverage and wireless connectivity, 5G fully unlocks the potential of robot autonomy and boosts emerging robotic applications, particularly in the domain of autonomous mobile robots. Ensuring seamless, efficient, and reliable navigation and operation of robots within a 5G network requires a clear understanding of the expected network quality in the deployment environment. However, obtaining real-time insights into network conditions, particularly in highly dynamic environments, presents a significant and practical challenge. In this paper, we present a novel framework for building a Network Digital Twin (NDT) using real-time data collected by robots. This framework provides a comprehensive solution for monitoring, controlling, and optimizing robotic operations in dynamic network environments. We develop a pipeline integrating robotic data into the NDT, demonstrating its evolution with real-world robotic traces. We evaluate its performances in radio-aware navigation use case, highlighting its potential to enhance energy efficiency and reliability for 5Genabled robotic operations.

cs.NI↗

arXiv2024

Explainable AI in 6G O-RAN: A Tutorial and Survey on Architecture, Use Cases, Challenges, and Future Research

The recent O-RAN specifications promote the evolution of RAN architecture by function disaggregation, adoption of open interfaces, and instantiation of a hierarchical closed-loop control architecture managed by RAN Intelligent Controllers (RICs) entities. This paves the road to novel data-driven network management approaches based on programmable logic. Aided by Artificial Intelligence (AI) and Machine Learning (ML), novel solutions targeting traditionally unsolved RAN management issues can be devised. Nevertheless, the adoption of such smart and autonomous systems is limited by the current inability of human operators to understand the decision process of such AI/ML solutions, affecting their trust in such novel tools. eXplainable AI (XAI) aims at solving this issue, enabling human users to better understand and effectively manage the emerging generation of artificially intelligent schemes, reducing the human-to-machine barrier. In this survey, we provide a summary of the XAI methods and metrics before studying their deployment over the O-RAN Alliance RAN architecture along with its main building blocks. We then present various use cases and discuss the automation of XAI pipelines for O-RAN as well as the underlying security aspects. We also review some projects/standards that tackle this area. Finally, we identify different challenges and research directions that may arise from the heavy adoption of AI/ML decision entities in this context, focusing on how XAI can help to interpret, understand, and improve trust in O-RAN operational networks.

cs.NI↗

arXiv2024

Cellular-enabled Collaborative Robots Planning and Operations for Search-and-Rescue Scenarios

Mission-critical operations, particularly in the context of Search-and-Rescue (SAR) and emergency response situations, demand optimal performance and efficiency from every component involved to maximize the success probability of such operations. In these settings, cellular-enabled collaborative robotic systems have emerged as invaluable assets, assisting first responders in several tasks, ranging from victim localization to hazardous area exploration. However, a critical limitation in the deployment of cellular-enabled collaborative robots in SAR missions is their energy budget, primarily supplied by batteries, which directly impacts their task execution and mobility. This paper tackles this problem, and proposes a search-and-rescue framework for cellular-enabled collaborative robots use cases that, taking as input the area size to be explored, the robots fleet size, their energy profile, exploration rate required and target response time, finds the minimum number of robots able to meet the SAR mission goals and the path they should follow to explore the area. Our results, i) show that first responders can rely on a SAR cellular-enabled robotics framework when planning mission-critical operations to take informed decisions with limited resources, and, ii) illustrate the number of robots versus explored area and response time trade-off depending on the type of robot: wheeled vs quadruped.

cs.RO↗

arXiv2024

Goal-Oriented and Semantic Communication in 6G AI-Native Networks: The 6G-GOALS Approach

Recent advances in AI technologies have notably expanded device intelligence, fostering federation and cooperation among distributed AI agents. These advancements impose new requirements on future 6G mobile network architectures. To meet these demands, it is essential to transcend classical boundaries and integrate communication, computation, control, and intelligence. This paper presents the 6G-GOALS approach to goal-oriented and semantic communications for AI-Native 6G Networks. The proposed approach incorporates semantic, pragmatic, and goal-oriented communication into AI-native technologies, aiming to facilitate information exchange between intelligent agents in a more relevant, effective, and timely manner, thereby optimizing bandwidth, latency, energy, and electromagnetic field (EMF) radiation. The focus is on distilling data to its most relevant form and terse representation, aligning with the source's intent or the destination's objectives and context, or serving a specific goal. 6G-GOALS builds on three fundamental pillars: i) AI-enhanced semantic data representation, sensing, compression, and communication, ii) foundational AI reasoning and causal semantic data representation, contextual relevance, and value for goal-oriented effectiveness, and iii) sustainability enabled by more efficient wireless services. Finally, we illustrate two proof-of-concepts implementing semantic, goal-oriented, and pragmatic communication principles in near-future use cases. Our study covers the project's vision, methodologies, and potential impact.

eess.SP↗

arXiv2024

OROS: Online Operation and Orchestration of Collaborative Robots using 5G

The 5G mobile networks extend the capability for supporting collaborative robot operations in outdoor scenarios. However, the restricted battery life of robots still poses a major obstacle to their effective implementation and utilization in real scenarios. One of the most challenging situations is the execution of mission-critical tasks that require the use of various onboard sensors to perform simultaneous localization and mapping (SLAM) of unexplored environments. Given the time-sensitive nature of these tasks, completing them in the shortest possible time is of the highest importance. In this paper, we analyze the benefits of 5G-enabled collaborative robots by enhancing the intelligence of the robot operation through joint orchestration of Robot Operating System (ROS) and 5G resources for energysaving goals, addressing the problem from both offline and online manners. We propose OROS, a novel orchestration approach that minimizes mission-critical task completion times as well as overall energy consumption of 5G-connected robots by jointly optimizing robotic navigation and sensing together with infrastructure resources. We validate our 5G-enabled collaborative framework by means of Matlab/Simulink, ROS software and Gazebo simulator. Our results show an improvement between 3.65% and 11.98% in exploration task by exploiting 5G orchestration features for battery savings when using 3 robots.

cs.NI↗

arXiv2024

ORANUS: Latency-tailored Orchestration via Stochastic Network Calculus in 6G O-RAN

The Open Radio Access Network (O-RAN)-compliant solutions lack crucial details to perform effective control loops at multiple time scales. In this vein, we propose ORANUS, an O-RAN-compliant mathematical framework to allocate radio resources to multiple ultra Reliable Low Latency Communication (uRLLC) services. In the near-RT control loop, ORANUS relies on a novel Stochastic Network Calculus (SNC)-based model to compute the amount of guaranteed radio resources for each uRLLC service. Unlike traditional approaches as queueing theory, the SNC-based model allows ORANUS to ensure the probability the packet transmission delay exceeds a budget, i.e., the violation probability, is below a target tolerance. ORANUS also utilizes a RT control loop to monitor service transmission queues, dynamically adjusting the guaranteed radio resources based on detected traffic anomalies. To the best of our knowledge, ORANUS is the first O-RAN-compliant solution which benefits from SNC to carry out near-RT and RT control loops. Simulation results show that ORANUS significantly improves over reference solutions, with an average violation probability 10x lower.

cs.NI↗

arXiv2023

A Multi-Agent Deep Reinforcement Learning Approach for RAN Resource Allocation in O-RAN

Artificial intelligence (AI) and Machine Learning (ML) are considered as key enablers for realizing the full potential of fifth-generation (5G) and beyond mobile networks, particularly in the context of resource management and orchestration. In this demonstration, we consider a fully-fledged 5G mobile network and develop a multi-agent deep reinforcement learning (DRL) framework for RAN resource allocation. By leveraging local monitoring information generated by a shared gNodeB instance (gNB), each DRL agent aims to optimally allocate radio resources concerning service-specific traffic demands belonging to heterogeneous running services. We perform experiments on the deployed testbed in real-time, showing that DRL-based agents can allocate radio resources fairly while improving the overall efficiency of resource utilization and minimizing the risk of over provisioning.

cs.NI↗

arXiv2022

On the Specialization of FDRL Agents for Scalable and Distributed 6G RAN Slicing Orchestration

Network slicing enables multiple virtual networks to be instantiated and customized to meet heterogeneous use case requirements over 5G and beyond network deployments. However, most of the solutions available today face scalability issues when considering many slices, due to centralized controllers requiring a holistic view of the resource availability and consumption over different networking domains. In order to tackle this challenge, we design a hierarchical architecture to manage network slices resources in a federated manner. Driven by the rapid evolution of deep reinforcement learning (DRL) schemes and the Open RAN (O-RAN) paradigm, we propose a set of traffic-aware local decision agents (DAs) dynamically placed in the radio access network (RAN). These federated decision entities tailor their resource allocation policy according to the long-term dynamics of the underlying traffic, defining specialized clusters that enable faster training and communication overhead reduction. Indeed, aided by a traffic-aware agent selection algorithm, our proposed Federated DRL approach provides higher resource efficiency than benchmark solutions by quickly reacting to end-user mobility patterns and reducing costly interactions with centralized controllers.

cs.NI↗

arXiv2020

$π$-ROAD: a Learn-as-You-Go Framework for On-Demand Emergency Slices in V2X Scenarios

Vehicle-to-everything (V2X) is expected to become one of the main drivers of 5G business in the near future. Dedicated \emph{network slices} are envisioned to satisfy the stringent requirements of advanced V2X services, such as autonomous driving, aimed at drastically reducing road casualties. However, as V2X services become more mission-critical, new solutions need to be devised to guarantee their successful service delivery even in exceptional situations, e.g. road accidents, congestion, etc. In this context, we propose $π$-ROAD, a \emph{deep learning} framework to automatically learn regular mobile traffic patterns along roads, detect non-recurring events and classify them by severity level. $π$-ROAD enables operators to \emph{proactively} instantiate dedicated \emph{Emergency Network Slices (ENS)} as needed while re-dimensioning the existing slices according to their service criticality level. Our framework is validated by means of real mobile network traces collected within $400~km$ of a highway in Europe and augmented with publicly available information on related road events. Our results show that $π$-ROAD successfully detects and classifies non-recurring road events and reduces up to $30\%$ the impact of ENS on already running services.

cs.LG↗

arXiv2020

ONETS: Online Network Slice Broker From Theory to Practice

Network slicing allows mobile network operators to open their physical network infrastructure platform to the concurrent deployment of multiple logical self-contained networks, i.e., network slices. In this paper we propose and analyze ONETS: an Online NETwork Slicing solution that (i) builds on the budgeted lock-up multi-armed bandit mathematical model and properties, (ii) derives its analytical bounds in our proposed extension for network slicing, (iii) seamlessly integrates into the 3GPP architecture, (iv) proves its feasibility through a proof-of-concept implementation on commercial hardware considering three network slices and (v) allows for the design of a low-complexity online network slice brokering solution that maximizes multiplexing gains.

cs.NI↗

arXiv2020

ARENA: A Data-driven Radio Access Networks Analysis of Football Events

Mass events represent one of the most challenging scenarios for mobile networks because, although their date and time are usually known in advance, the actual demand for resources is difficult to predict due to its dependency on many different factors. Based on data provided by a major European carrier during mass events in a football stadium comprising up to 30.000 people, 16 base station sectors and $1$Km$^2$ area, we performed a data-driven analysis of the radio access network infrastructure dynamics during such events. Given the insights obtained from the analysis, we developed ARENA, a model-free deep learning Radio Access Network (RAN) capacity forecasting solution that, taking as input past network monitoring data and events context information, provides guidance to mobile operators on the expected RAN capacity needed during a future event. Our results, validated against real events contained in the dataset, illustrate the effectiveness of our proposed solution.

cs.LG↗

arXiv2020

LACO: A Latency-Driven Network Slicing Orchestration in Beyond-5G Networks

Network Slicing is expected to become a game changer in the upcoming 5G networks and beyond, enlarging the telecom business ecosystem through still-unexplored vertical industry profits. This implies that heterogeneous service level agreements (SLAs) must be guaranteed per slice given the multitude of predefined requirements. In this paper, we pioneer a novel radio slicing orchestration solution that simultaneously provides-latency and throughput guarantees in a multi-tenancy environment. Leveraging on a solid mathematical framework, we exploit the exploration-vs-exploitation paradigm by means of a multi-armed-bandit-based(MAB) orchestrator, LACO, that makes adaptive resource slicing decisions with no prior knowledge on the traffic demand or channel quality statistics. As opposed to traditional MAB methods that are blind to the underlying system, LACO relies on system structure information to expedite decisions. After a preliminary simulations campaign empirically proving the validness of our solution, we provide a robust implementation of LACO using off-the-shelf equipment to fully emulate realistic network conditions:near-optimal results within affordable computational time are measured when LACO is in place.

cs.NI↗

arXiv2020

NSBchain: A Secure Blockchain Framework for Network Slicing Brokerage

With the advent of revolutionary technologies, such as virtualization and softwarization, a novel concept for 5G networks and beyond has been unveiled: Network Slicing. Initially driven by the research community, standardization bodies as 3GPP have embraced it as a promising solution to revolutionize the traditional mobile telecommunication market by enabling new business models opportunities. Network Slicing is envisioned to open up the telecom market to new players such as Industry Verticals, e.g. automotive, smart factories, e-health, etc. Given the large number of potential new business players, dubbed as network tenants, novel solutions are required to accommodate their needs in a cost-efficient and secure manner. In this paper, we propose NSBchain, a novel network slicing brokering (NSB) solution, which leverages on the widely adopted Blockchain technology to address the new business models needs beyond traditional network sharing agreements. NSBchain defines a new entity, the Intermediate Broker (IB), which enables Infrastructure Providers (InPs) to allocate network resources to IBs through smart contracts and IBs to assign and re-distribute their resources among tenants in a secure, automated and scalable manner. We conducted an extensive performance evaluation by means of an open-source blockchain platform that proves the feasibility of our proposed framework considering a large number of tenants and two different consensus algorithms.

cs.NI↗