Task-oriented Communications via the Vol and Aol based Queue Ordering

The ultra-reliable and low-latency communication (URLLC) offered by the fifth-generation (5G) mobile commu-nication network cannot support the safe operation of robots. Nowadays, the sixth-generation (6G) mobile communication net-work is proposed with the aim to provide the service of hyper-reliable and low-latency communication to enable more accurate and safe control for robots. However, current research mainly focused on improving communication performance, while the robotics community mostly assumed the communication to be ideal without packet loss or latency. To jointly consider and optimize communication and robotic control with a focus on the robotic task, we integrate task-oriented and semantic-aware communication in robotic control (TSRC) to exploit the context of data and its importance in achieving the task. The TSRC framework includes a proactive repetition scheme for control and command (C&C) data transmission, and the value of information (Vol) and the age of information (Aol) based queue ordering mechanism (VA-QOM) utilized to reorganize the queue of re-ceived C&C data based on their semantic information extracted from the Aol and the Vol. To verify the effectiveness of our proposed TSRC framework, we compare it with the traditional unmanned aerial vehicle (UAV) control framework in a real-time UAV waypoint transmission task via simulation, which validates that our proposed TSRC framework achieves great enhancement in performance compared with the traditional UAV control framework.