Adaptive Flow Scheduling for Teleoperation: A Communication and Control Co-Optimization Framework Over Time-Sensitive Networks
Zhenrui Cao, Tie Qiu, Xiaobo Zhou, Hao Su, Min Huang, Dapeng Lan, Xingwei Wang · IEEE Journal on Selected Areas in Communications · 2025
Time-Sensitive Networking (TSN), renowned for its deterministic properties, has become a pivotal technology under-pinning real-time industrial control in Cyber-Physical Systems. Existing research emphasizes enhancing the transmission services of TSN networks for control applications by improving flow schedulability and minimizing end-to-end delay. However, these studies abstract the performance requirements of control applications into rigid, impractical constraints for flow scheduling, disrupting the connection between control optimization and transmission enhancement, and eventually undermining genuine progress in industrial control. Within a co-optimization framework of communication and control, this paper proposes AFS-RT, an Adaptive TSN Flow Scheduling method for Robotic arm Teleoperation, a representative industrial control application. Specifically, through a comprehensive analysis of the teleoperation case, we first integrate slot allocation-based flow scheduling with remote control to formulate a control-driven co-optimization model. To tackle the complexities arising from the implicit mapping between communication and control, we augment the Deep Reinforcement Learning agent responsible for slot allocation with slot-correlation-guided feature extraction, improving feature comprehension by leveraging inherent correlations between slots and thereby boosting the agent’s decision-making capabilities. Extensive testbed and simulation experiments demonstrate that AFS-RT significantly improves teleoperation performance under diverse network conditions compared to SOTA algorithms.