Sensing-Communication-Computing-Control Closed-Loop Optimization for 6G Unmanned Robotic Systems

원문 초록

Rapid advancements in field robots have brought a new kind of cyber physical system (CPS)--unmanned robotic system--under the spotlight. In the upcoming sixth-generation (6G) era, these systems hold great potential to replace humans in hazardous tasks. This paper investigates an unmanned robotic system comprising a multi-functional unmanned aerial vehicle (UAV), sensors, and actuators. The UAV carries communication and computing modules, acting as an edge information hub (EIH) that transfers and processes information. During the task execution, the EIH gathers sensing data, calculates control commands, and transmits commands to actuators--leading to reflex-arc-like sensing-communication-computing-control ($\mathbf{SC}^3$) loops. Unlike existing studies that design $\mathbf{SC}^3$ loop components separately, we take each $\mathbf{SC}^3$ loop as an integrated structure and propose a goal-oriented closed-loop optimization scheme. This scheme jointly optimizes uplink and downlink (UL&DL) communication and computing within and across the $\mathbf{SC}^3$ loops to minimize the total linear quadratic regulator (LQR) cost. We derive optimal closed-form solutions for intra-loop allocation and propose an efficient iterative algorithm for inter-loop optimization. Under the condition of adequate CPU frequency availability, we derive an approximate closed-form solution for inter-loop bandwidth allocation. Simulation results demonstrate that the proposed scheme achieves a two-tier task-level balance within and across $\mathbf{SC}^3$ loops.