Goal-Oriented Wireless Communication for a Remotely Controlled Autonomous Guided Vehicle
Pedro M. de Sant Ana, Nikolaj Marchenko, Beatriz Soret, Petar Popovski
Abstract
This letter considers a remote control Autonomous Guided Vehicle (AGV), where packets carrying sensory data and control information are sent through a time-correlated wireless fading channel. We illustrate there is an inherent dependency between the data rate and the resulting control accuracy for such a system. We propose a goal-oriented wireless solution, in which data transmission rate is continuously adapted according to Age-of-Loop metric to achieve precise remote trajectory control of an AGV. The numerical analysis shows that the proposed solution provides higher control accuracy at the AGV trajectory compared to straightforward fixed-rate transmission policies, and to a reference solution based on Age-of-Information metric, more commonly used in research of wireless networked control systems.