arXiv subjects

Srdjan Sobot

Publications and source records attributed to Srdjan Sobot.

4 recordsLinked to original sources

arXiv2026

CSI-Assisted Edge SLAM Testbed Platform for 5G Connected Unmanned Autonomous Vehicles

The evolution from 5G towards 6G reinforces interest in connected robotics, where mobile robots offload compute-intensive tasks to edge servers over ultra-reliable low-latency communication (URLLC) links. Simultaneous localization and mapping (SLAM), a fundamental yet demanding robotics function, is increasingly considered for edge deployment within mobile edge computing (MEC) frameworks. In parallel, integrated sensing and communications (ISAC) enables the use of radio channel information, such as channel state information (CSI), as an additional sensing modality in radio-based SLAM. In this paper, we design and implement a CSI-assisted Edge SLAM testbed integrating a custom unmanned ground vehicle (UGV), a ROS2-based SLAM framework, and a 5G Open Radio Access Network (O-RAN) system. The proposed architecture provides an end-to-end, cross-layer view of ROS2 sensor data streaming over 5G, explicitly enabling CSI exposure and integration into the SLAM pipeline. We analyze ROS2 DDS communication, RTPS packetization, and 5G user-plane transport, and discuss mechanisms for CSI extraction and delivery via O-RAN components. The platform enables realistic experimentation with communication-aware SLAM and reveals key challenges related to latency, data streaming, synchronization, and cross-system integration, providing insights for future 6G-enabled robotic platforms.

cs.NI↗

arXiv2026

End-to-End O-RAN Testbed for Edge-AI-Enabled 5G/6G Connected Industrial Robotics

Connected robotics is one of the principal use cases driving the transition towards more intelligent and capable 6G mobile cellular networks. Replacing wired connections with highly reliable, high-throughput, and low-latency 5G/6G radio interfaces enables robotic system mobility and the offloading of compute-intensive artificial intelligence (AI) models for robotic perception and control to servers located at the network edge. The transition towards Edge AI as a Service (E-AIaaS) simplifies on-site maintenance of robotic systems and reduces operational costs in industrial environments, while supporting flexible AI model life-cycle management and seamless upgrades of robotic functionalities over time. In this paper, we present a 5G/6G O-RAN-based end-to-end testbed that integrates E-AIaaS for connected industrial robotic applications. The objective is to design and deploy a generic experimental platform based on open technologies and interfaces, demonstrated through an E-AIaaS-enabled autonomous welding scenario. Within this scenario, the testbed is used to investigate trade-offs among different data acquisition, edge processing, and real-time streaming approaches for robotic perception, while supporting emerging paradigms such as semantic and goal-oriented communications.

cs.RO↗

arXiv2023

Two-Tier UAV-based Low Power Wide Area Networks: A Testbed and Experimentation Study

In this paper, we propose, design, deploy and demonstrate a two-tier Low Power Wide Area Network (LP WAN) system based on Unmanned Aerial Vehicle (UAV) base stations suitable for dynamic deployment in deep rural environments. The proposed UAV-based LP WAN network augments the existing macro-cellular LP WAN network (Tier 1) with an additional layer of mobile base stations (Tier 2) based also on LP WAN technology. Mobile Tier 2 LP WAN base stations provide connectivity to static or mobile LP WAN user equipment deployed in the areas without direct Tier 1 LP WAN network coverage. The proposed two-tier LP WAN network scenario is suitable for various agricultural, forestry and environmental applications such as livestock or wild animal monitoring. In this experimental work, we report the prototype that was successfully deployed and used in a real-world deep rural environment without Tier 1 LP WAN network coverage.

cs.NI↗

arXiv2020

In-depth Real-World Evaluation of NB-IoT Module Energy Consumption

Narrowband Internet of Things (NB-IoT) is a recent addition to the 3GPP standards offering low power wide area networking (LP-WAN) for a massive amount of IoT devices communicating at low data rates in the licensed bands. As the number of deployed NB-IoT devices worldwide increases, the question of energy-efficient real-world NB-IoT device and network operation that would maximize the device battery lifetime becomes crucial for NB-IoT service popularity and adoption. In this paper, we present a detailed energy consumption of an NB-IoT module obtained from a custom-designed NB-IoT platform from which a large amount of high time-resolution data is collected. We perform a detailed energy consumption analysis of each NB-IoT data transfer phase and discuss both the device and the network-side configurations that may affect the module energy consumption in each of the phases. Preliminary results and conclusions are put forth along with the discussion of ongoing and future study plans.

cs.NI↗