arXiv subjects

Lucas Haug

Publications and source records attributed to Lucas Haug.

3 recordsLinked to original sources

arXiv2026

Coordinating Task Switching in a Robotics Multi-Agent System Using Behavior Trees

The application of multi-agent systems in robotics is a very challenging field. Several competitions involving such systems are proposed to foster research and development of strategies and mechanisms using games as the underlying domain. Among them are the ones from the \textit{IEEE Very Small Soccer (VSSS)} category, which is the case study described in this paper. In VSSS, two teams of three robots each compete in a very dynamic environment of a soccer game. Thus, coordination of robots' behavior during the game is crucial to win it. In this paper, we present a Behavior-Tree-based approach to support multi-robot coordination within the VSSS team of the ThundeRatz robotics team from the Universidade de S$\tilde{a}$o Paulo. Moreover, a comparison between the proposed approach and the previous one, which was based on a Finite State Machine (FSM), was conducted using the FIRASim simulator. Besides that, the performance of this new strategy was further evaluated in an academic robotics competition.

cs.MA↗

arXiv2026

Compensating the Packet Delay Variation for 6G Integrated with IEEE Time-Sensitive Networking

6G is deemed as a key technology to support emerging applications with stringent requirements for highly dependable and timecritical communication. In this paper, we investigate 6G networks integrated with TSN and how to compensate for wireless stochastic behavior which involves a large intrinsic packet delay variation. We evaluate a 6G solution to reduce packet delay variation that is based on de-jittering. For this, we propose to use virtual timeslots for providing the required time-awareness. We discuss the benefits of the proposed solution while evaluating the impact of the timeslot size on the number of schedulable TSN streams.

cs.NI↗

arXiv2025

An (m,k)-firm Elevation Policy for Weakly Hard Real-Time in Converged 5G-TSN Networks

Ongoing standardization efforts in 5G and Time-Sensitive Networking (TSN) aim to provide safety-critical applications with real-time communication. However, 5G-TSN network schedules often rely on idealistic delay models that can jeopardize the validity of their guarantees. This paper presents an $(m,k)$-firm Elevation Policy to uphold a base level of weakly hard real-time guarantees (WHRT). It augments the primary schedule with a dynamic priority-driven scheme to elevate the priority of $m$ out of $k$ consecutive frames if they experience unexpected delays. Our evaluations demonstrate the necessity of WHRT to increase fault-tolerance against 5G delay outliers and to uphold the quality of control within a 5G-TSN networked control system. Still, only a small resource overhead is imposed during epochs where the primary schedule is valid and can serve stronger QoS guarantees. The $(m,k)$-firm Elevation Policy thereby yields a robust but light-weight fallback mechanism to serve applications with dependable guarantees during unstable network conditions.

cs.NI↗