A method and devices for autonomous device motion control

Abstract

A method and devices for inhibiting impact of planned motion of autonomous device on a quality of service of wireless links. The method comprising: receiving information about autonomous devices within the pre-determined area and the wireless network covering the pre-defined area; estimating the impact of a planned motion on wireless links within the pre-defined area; determining, based on the estimated impact and received information, whether the planned motion is consistent with maintaining a quality of service of the wireless links above a predetermined threshold; and in response to determining that the planned motion is not consistent with maintaining the quality of service of the wireless links above a predetermined threshold, negotiating between the wireless area controller and the at least one autonomous device and / or adapting one or more parameters of the wireless network to maintain the quality of service of the wireless links.

Description

[0001] A METHOD AND DEVICES FOR AUTONOMOUS DEVICE MOTION CONTROL

[0002] FIELD OF THE INVENTION

[0003] This invention relates to controlling motion of autonomous devices. For example, negotiating adapted motion for autonomous devices such as mobile robots or adapted wireless network parameters to ensure a quality of service of wireless connections within a pre-defined area.

[0004] BACKGROUND

[0005] Mobile robots and autonomous vehicles have numerous applications in industrial, e-health, hazardous environments, and intralogistics environments. Mobile robots and autonomous guided vehicles (AGVs) are being deployed ever more frequently to perform multiple tasks and in doing so add greater flexibility to industrial and common environments. Mobile Robot systems are characterised by maximum flexibility and maximum 2D or 3D mobility, with a certain level of autonomy and perception ability of their environment. Fundamental motion tasks executed by mobile robots include Motion Control and Planning, Trajectory, Posture, Displacement, Flying, etc.

[0006] These fundamental motion tasks enable different high-level motion tasks in different environments. For example. In industrial environments: Free Motion, Object Transportation, Spot Welding, Automatic Industrial Production, Pick and Place, Mobile Assembly, Material Handling, Factory Surveillance, Assembly, Time Critical Object Transportation, Operation in Hazardous Environments, Search and Rescue Operations, Cooperative Carrying of Big Object, among others. In e-health environments: High-Precision Cuts, Move 3D Camera, Medical Object Transportation, Care-take Patient, Caregiver Support, among others. In logistics environments: Object Transportation, Time Critical Object Transportation, Free Motion, Pick and Place, among others. In hazardous environments: Operation in Hazardous Environments, Search and Rescue Operations, Material Handling, among others. In intelligent transportation environments: Drone Package Delivery, Teleoperated Driving, Teleoperated Driving Emergency Situation, Search and Rescue, among others.

[0007] Application areas of mobile robots include but are not limited to factories, hospitals, mines, warehouses, transportation infrastructure and a common place such as smart city. These areas are often deployed with wireless communication systems, which may conduct certain critical wireless communication services such as tele-operation, safety or health monitoring, etc. These critical wireless communication services have very strong requirements on the service quality such as reliability and latency.

[0008] The quality of service (QoS) of these wireless communication services is directly affected by the signal power attenuation of the received wireless signal between the transmitter and the receiver due to large-scale effects. This attenuation is caused by free-space propagation loss, reflections, diffraction from objects between the transmitter and receiver, as well as the sudden presence of objects blocking a line-of-sight (LOS) condition and producing a non-line-of-sight (NLOS) condition. For the latter, the presence of mobile objects such as mobile robots in these critical environments where multiple communication entities are communicating over a wireless communication medium may negatively affect the critical wireless communication. Such negative effects on the wireless communication may affect the correct operation of applications and significantly reduce the productivity and efficiency of the wireless communication system as well as affect functional safety.

[0009] Current solutions that address the blockage issue are exclusively focused on the management of the communication system itself, e.g. through the management of the positions and motion plan of the mobile transceivers belonging to this communication system. The presence of other mobile objects, e.g. mobile robots in the environment is not considered. Existing approaches relate to the optimization of the path planning or adaptation of the wireless system.

[0010] For example, an existing approach focuses on path planning adaptation based on communication information. 3D path planning is studied for unmanned aerial vehicles (UAVs) to minimize flying distance from given initial location to final locations, while ensuring a target link quality in terms of the expected Signal to Interference plus Noise Ratio (SINR) at the UAV receiver with each of its associated ground base stations (GBSs) during the flight. In other works, the speed of the teleoperated driving vehicle can be adapted or a safe stop maneuver initiated, based on the expected QoS performance provided by the network. Similarly, adaptation of the teleoperated driving vehicle has also been performed based on QoS predictions.

[0011] In other existing approaches, wireless communication adaptation based on motion information has been explored. For example, there has been proposed a beam alignment algorithm based on motion control information, where the mutual positive effect of communications and motion control of Connected and Automated Vehicles (CAVs) on each other is discussed.

[0012] However, the existing proposed approaches have limited scopes and several limitations. Specifically, the above-described approaches only consider the wireless link and motion plan of the user equipment, i.e. for remote-controlled devices e.g. vehicles or UAVs in the critical wireless communication system. The presence of mobile objects belonging to other control systems in the same environment which may strongly impact the quality of critical wireless communication are not considered.

[0013] Similarly, the existing approaches do not consider the possible posture change of the mobile objects, e.g. mobile robots. The posture change of the blockages may have a large impact on the wireless environment, specially for the high frequency spectrum.

[0014] It is desirable to develop a method for controlling all autonomous vehicle sin a specified area and take account of the whole range of motion likely to occur.

[0015] SUMMARY OF THE INVENTION

[0016] According to one aspect there is provided a controller for communicating with a plurality of autonomous devices over a wireless network, the controller configured to: receive information about one or more autonomous devices located within a predetermined area and the wireless network covering the pre-defined area; estimate the impact of a planned motion of at least one of the autonomous devices on wireless links within the pre-defined area; and determine, based on the estimated impact and received information, whether the planned motion is consistent with maintaining a quality of service of the wireless links above a predetermined threshold; and in response to determining that the planned motion is not consistent with maintaining the quality of service of the wireless links above a predetermined threshold, negotiate with the at least one autonomous device or adapt one or more parameters of the wireless network to maintain the quality of service of the wireless links. The controller thus enables management of wireless communication in the pre-defined area including estimation of the impact of the environment changes on the wireless links caused by one or more mobile robots.

[0017] In an embodiment, the controller may be configured to, in response to determining that the planned motion is consistent with maintaining the quality of service of the wireless links above a predetermined threshold, accept the planned motion and transmit an acceptance of motion notification to the at least one autonomous device.

[0018] In an embodiment, the controller may be configured to adapt one or more parameters of the wireless network to maintain the quality of service of the wireless links by triggering the wireless network to adapt its parameters to alter the wireless link between any combination of a first autonomous device and the wireless network, the first autonomous device and a second autonomous device, or the second autonomous device and the wireless network.

[0019] In an embodiment, the pre-defined area may be a critical area of interest within which critical wireless network communication links support one or more critical functions and the wireless network must maintain a minimum quality of service in this area corresponding to the predetermined threshold.

[0020] In an embodiment, the received information about one or more autonomous devices may comprise any combination of a device identifier and motion information.

[0021] In an embodiment, the received information about the wireless network may comprise information indicative of wireless communications priority.

[0022] In an embodiment, the motion information may comprise any combination of: motion plan and timestamps, posture information, motion importance level of the motion task, motion time deadline of motion.

[0023] In an embodiment, the controller may be configured to compute a motion priority based on the motion importance level and the motion time deadline. In this way, the wireless communication system is enabled to be aware of the priority of the motion executed by the mobile robots. Based on this and the priority of the wireless communication in the pre-defined area, the wireless area controller negotiates which aspect will adapt.

[0024] In an embodiment, after determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold, the controller may be configured to compare the motion priority and information indicative of wireless communications priority to determine whether to negotiate with one or more of the autonomous devices or adapt one or more parameters of the wireless network.

[0025] In an embodiment, the controller may be configured to trigger the wireless network to adapt its parameters by transmitting the estimated impact of the motion plan on the quality of service to a network entity of the wireless network.

[0026] In an embodiment, the controller may be configured to notify the one or more autonomous devices that the planned motion is accepted in response to receiving confirmation from the network entity of the wireless network that the wireless network has adapted for the planned motion.

[0027] In an embodiment, the controller may be configured to estimate the impact of a motion plan on wireless links within the predefined area based on a planned autonomous device route of the motion plan, a planned autonomous device pose of the motion plan, and one or more materials of the autonomous device.

[0028] In an embodiment, the controller may be configured to, in response to determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold, transmit a stop motion indication to at least one of the pluralities of autonomous devices and negotiate an adapted motion plan for one or more autonomous devices comprising one or more of an alternative autonomous device route and an alternative autonomous device pose.

[0029] In an embodiment, the controller may be configured to negotiate the adapted motion plan by transmitting a trigger to the at least one autonomous device to generate one or more adapted motion plans, receiving the one or more adapted motion plans, selecting one of the one or more adapted motion plans, and transmitting an indication of the selected adapted motion plan to the at least one autonomous device.

[0030] In an embodiment, the controller may be configured to transmit a wireless occupancy grid to the at least one autonomous device to be used when generating the one or more adapted motion plans.

[0031] In an embodiment, the controller may be configured to negotiate the adapted motion plan by generating one or more adapted motion plans, estimating the impact of the one or more adapted motion plans, selecting one of the one or more adapted motion plans based on the estimated impact, and transmitting the selected motion plan to the at least one autonomous device to be executed.

[0032] In an embodiment, the controller may be configured to negotiate the adapted motion plan by generating a plurality of adapted motion plans and transmit them to the at least one autonomous device and receive an indication form the at least one autonomous device indicating which of the plurality of adapted motion plans has been selected to be executed by the at least one autonomous device.

[0033] In an embodiment, the received information about one or more autonomous devices may comprises at least one characteristic comprising an identifier of the at least one autonomous device.

[0034] In an embodiment, the controller may be configured to determine when an autonomous device has become active within the pre-defined area and in response initiate a registration procedure.

[0035] In an embodiment, the controller may be configured to, as part of the registration procedure, broadcast a description of the predefined area or transmit the description of the pre-defined area to the newly active autonomous device in response to receiving an indication of presence from the autonomous device.

[0036] In an embodiment, the controller may be configured to register the autonomous device in response to receipt of one or more characteristics of the autonomous device comprising at least a device identifier and transmit an acknowledgement and a predefined area identifier to the newly active autonomous device once registered.

[0037] In an embodiment, the one or more characteristics may further comprise any combination of type of device, size, material, shape, computational capability, and motion priority support.

[0038] According to another aspect there is provided an autonomous device for executing a motion plan within a pre-defined area covered by a wireless network, the autonomous device configured to: determine a planned motion is at least partially within the pre-defined area; and transmit to a pre-defined area controller, motion information associated with the planned motion.

[0039] In an embodiment, the device may be configured to receive an indication to execute the planned motion according to the transmitted motion information.

[0040] In an embodiment, the device may be configured to receive an adapted motion plan from the controller and execute the adapted motion plan to maintain a quality of service of wireless links within the pre-defined area.

[0041] In an embodiment, the device may be configured to receive an indication to generate one or more adapted motion plans to maintain a quality of service of critical wireless links within the pre-defined area; generate the one or more adapted motion plans; transmit the one or more adapted motion plans to the controller; receive an indication from the controller specifying one of the transmitted adapted motion plans; and execute the specified adapted motion plan.

[0042] In an embodiment, the device may be configured to receive a wireless occupancy grid of the pre-defined area and generate the one or more adapted motion plans based on the received grid.

[0043] In an embodiment, the autonomous device may be configured to broadcast its presence and receive from the controller a description of the pre-defined area.

[0044] In an embodiment, prior to the determining step, the autonomous device may be configured to receive a broadcast description of the pre-defined area from the controller and transmit an identifier of the autonomous device to the controller.

[0045] In an embodiment, the autonomous device may be configured to also transmit at least one of type of device, size, material, shape, computational capability, and motion priority support.

[0046] In an embodiment, if the autonomous device does not have motion priority support, the autonomous device may be configured to transmit motion importance rules associated with the planned motion to the controller in response to receiving a request from the controller for motion importance rules.

[0047] In an embodiment, the autonomous device may be configured to transmit motion importance rules associated with the planned motion.

[0048] According to another aspect there is provided a wireless network entity for providing wireless network coverage for wireless links between to one or more autonomous devices within a pre-defined wireless area, the wireless network entity configured to receive an indication from a wireless area controller to change its current state so as to adapt the parameters of the wireless network to be consistent with maintaining a quality of service of the wireless links above a predetermined threshold during a planned motion of at least one of the autonomous devices.

[0049] In an embodiment, the wireless network entity may be configured to adapt the parameters of the wireless network by performing any one or more of allocating more frequency resources during the motion plan, changing an operating frequency band, preparing a dual -connectivity wireless link, changing an operating radio access technology.

[0050] In an embodiment, the wireless network entity may be configured to transmit to the wireless area controller information about the wireless network covering the pre-defined wireless area comprising information indicative of wireless communications priority.

[0051] According to another aspect there is provided a method for inhibiting the impact of a planned motion of an autonomous device on a quality of service of wireless links over a wireless network, the method comprising: receiving, by a wireless area controller of a pre-determined area, information about one or more autonomous devices located within the pre-determined area and the wireless network covering the pre-defined area; estimating, by the wireless area controller, the impact of a planned motion of at least one of the autonomous devices on wireless links within the pre-defined area; and determining, by the wireless area controller, based on the estimated impact and received information, whether the planned motion is consistent with maintaining a quality of service of the wireless links above a predetermined threshold; and in response to determining that the planned motion is not consistent with maintaining the quality of service of the wireless links above a predetermined threshold, negotiating between the wireless area controller and the at least one autonomous device and / or adapting one or more parameters of the wireless network to maintain the quality of service of the wireless links.

[0052] In an embodiment, the method may comprise, in response determining that the planned motion is consistent with maintaining the quality of service of the wireless links above a predetermined threshold, accepting the planned motion and transmitting an acceptance of motion notification from the wireless area controller to the at least one autonomous device.

[0053] In an embodiment, the method may comprise adapting one or more parameters of the wireless network to maintain the quality of service of the wireless links by triggering the wireless network to adapt its parameters to alter the wireless link between any combination of a first autonomous device and the wireless network, the first autonomous device and a second autonomous device, or the second autonomous device and the wireless network.

[0054] In an embodiment, the pre-defined area may be a critical area of interest within which critical wireless network communication links support one or more critical functions and the wireless network must maintain a minimum quality of service in this area corresponding to the predetermined threshold.

[0055] In an embodiment, the received information about one or more autonomous devices may comprise any combination of a device identifier and motion information.

[0056] In an embodiment, the received information about the wireless network may comprise information indicative of wireless communications priority.

[0057] In an embodiment, the motion information may comprise any combination of: motion plan and timestamps, posture information, motion importance level of the motion task, motion time deadline of motion.

[0058] In an embodiment, the method may comprise computing a motion priority based on the motion importance level and the motion time deadline.

[0059] In an embodiment, the method may comprise, after determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold, comparing the motion priority and information indicative of wireless communications priority to determine whether to negotiate with one or more of the autonomous devices or adapt one or more parameters of the wireless network.

[0060] In an embodiment, the method may comprise triggering the wireless network to adapt its parameters by transmitting the estimated impact of the motion plan on the quality of service to a network entity of the wireless network.

[0061] In an embodiment, the method may comprise the wireless area controller notifying the one or more autonomous devices that the planned motion is accepted in response to receiving confirmation from the network entity of the wireless network that the wireless network has adapted for the planned motion.

[0062] In an embodiment, the method may comprise estimating by the wireless area controller the impact of a motion plan on wireless links within the pre-defined area based on a planned autonomous device route of the motion plan, a planned autonomous device pose of the motion plan, and one or more materials of the autonomous device. In an embodiment, the method may comprise, in response to determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold, transmitting a stop motion indication from the wireless area controller to at least one of the pluralities of autonomous devices and negotiating an adapted motion plan for one or more autonomous devices comprising one or more of an alternative autonomous device route and an alternative autonomous device pose.

[0063] In an embodiment, the method may comprise negotiating the adapted motion plan by transmitting a trigger from the wireless area controller to the at least one autonomous device to generate one or more adapted motion plans, receiving by the wireless area controller from the at least one autonomous device the one or more adapted motion plans, selecting by the wireless area controller one of the one or more adapted motion plans, and transmitting from the wireless area controller an indication of the selected adapted motion plan to the at least one autonomous device.

[0064] In an embodiment, the method may comprise transmitting from the wireless area controller a wireless occupancy grid to the at least one autonomous device for generating the one or more adapted motion plans.

[0065] In an embodiment, the method may comprise negotiating the adapted motion plan by, at the wireless area controller: generating one or more adapted motion plans, estimating the impact of the one or more adapted motion plans, selecting one of the one or more adapted motion plans based on the estimated impact, and transmitting the selected motion plan to the at least one autonomous device to be executed.

[0066] In an embodiment, the method may comprise negotiating the adapted motion plan by : generating at the wireless area controller a plurality of adapted motion plans and transmitting them to the at least one autonomous device, estimating at the at least one autonomous device the impact of the one or more adapted motion plans, selecting one of the one or more adapted motion plans based on the estimated impact and transmitting an indication to the wireless area controller of the selected adapted motion plan, and receiving at the wireless controller the indication of the one or more adapted motion plans selected to be executed by the at least one autonomous device.

[0067] In an embodiment, the received information about one or more autonomous devices may comprise at least one characteristic comprising an identifier of the at least one autonomous device.

[0068] In an embodiment, the method may comprise determining at the wireless area controller that an autonomous device has become active within the pre-defined area and in response initiating a registration procedure.

[0069] In an embodiment, the method may comprise, as part of the registration procedure: transmitting, from the autonomous device to the wireless area controller, an indication of presence; broadcasting or transmitting by the wireless area controller, in response to receiving the indication of presence, a description of the pre-defined area to the newly active autonomous device.

[0070] In an embodiment, the method may comprise: receiving, by the wireless area controller from the autonomous device, one or more characteristics of the autonomous device comprising at least a device identifier the autonomous device; registering, in response to receiving the one or more characteristics, the autonomous device by the wireless area controller; and transmitting, from the wireless area controller to the autonomous device, a registration acknowledgement and a pre-defined area identifier to the newly active autonomous device.

[0071] In an embodiment, the one or more characteristics may further comprise any combination of type of device, size, material, shape, computational capability, and motion priority support. BRIEF DESCRIPTION OF THE FIGURES

[0072] The present invention will now be described by way of example with reference to the accompanying drawings. In the drawings:

[0073] Figure 1 shows an example of a factory environment in which an autonomous device is moving within a pre-defined area of interest.

[0074] Figure 2 is a signaling diagram showing the messages exchanged between entities to implement the core method proposed herein.

[0075] Figure 3 is a signaling diagram showing the messages exchanged between entities to implement an embodiment comprising motion alteration.

[0076] Figure 4 is a signaling diagram showing the messages exchanged between entities to implement an embodiment comprising wireless network adaptation.

[0077] Figure 5 shows a signaling diagram for an embodiment of autonomous device registration.

[0078] Figure 6 shows a signaling diagram for an embodiment of autonomous device registration.

[0079] Figure 7 shows a signaling diagram for an embodiment of autonomous device registration.

[0080] Figure 8 shows a signaling diagram for an embodiment of autonomous device registration.

[0081] DETAILED DESCRIPTION OF THE INVENTION

[0082] The approach proposed herein tackles the following observed situations.

[0083] Given the increasing flexibility and motion capabilities of mobile robots, their motion may increasingly negatively affect the ongoing critical wireless communication between neighbouring communication entities. This is especially the case for those entities which operate at high frequency bands. The impact of these mobile robots on the wireless communication should be minimized, but especially for critical wireless communications which support critical actions and functions of the system.

[0084] High-level motion tasks executed by mobile robots may have different degrees of criticality and different time deadlines. A high-level motion task with the degrees of criticality such as a ‘Search and Rescue’ or ‘Time Critical Object transportation’ operation may, for example, trigger emergency situations where the mobile robot must execute the motion tasks as soon as possible regardless of the impact on the other communication entities in the same area. At the same time, the effected communication entities should perform adaptations so that the QoS requirements of the wireless communication are met. Depending on the requirements of the high-level motion tasks and QoS requirements of the wireless communication, the negotiation and / or coordination between the mobile robots and effected wireless communication entities should be conducted. This should be done in order to maintain the motion tasks of the mobile robots and the services of the communication systems simultaneously.

[0085] The proposed method and devices operate within an environment within which certain terms and definitions are used. The following terms and concepts are used within this environment to define and help describe the proposed method and devices. Pre-defined Area or Critical Area of Interest (CAI): A geographical area (e.g., pre-defined by operator / vertical) where critical wireless communication occurs. Critical wireless communication may be defined as any wireless communication associated to but not limited to safety and efficiency applications. Specifically in industrial, e-health, logistics, hazardous, intelligent transportation environments, etc. In the proposed systems, the mobile robots should be aware when becoming active in a CAI zone, for example by entering the area or tuning on within the area. Multiple CAIs can be defined by the same operator / vertical, each one associated to a specific CAI with a specific CAI identifier (ID). The below formula is one example of how the CAI zone may be defined along with its ID: xi= FLOOR (x / / .) Mod Ax; x is the longitude position of mobile robot, L is the length of CAI zone, Nx number of CAI zones along x direction yi= FLOOR (y / W) Mod Ay; y is the latitude position of mobile robot, W is the width of CAI zone, Ny number of CAI zone along y direction CAI ID =yi * Nx + xi.

[0086] Autonomous Device or Mobile Robot: A robot with communication function. Mobile robot executes 3D or 2D motion including changes of posture (e.g. raise one arm). The mobile robot can be autonomous and aware of its motion. The mobile robot may or may not be operated via remote control.

[0087] Wireless Area Controller, or Wireless Critical Area Controller (WCAC): Comprises one or more control unit(s) in charge of the management of (critical) wireless communication in the CAI zone. The WCAC can be implemented and / or co-located at the base station or wireless access point. The WCAC has additional functions such as estimating the impact of the environment changes (e.g. obstacles) on the critical wireless link (e.g., QoS prediction using machine learning methods) and computing mobile robot route planning (e.g., high-level motion plan from source to target location) for mobile robots within the CAI zone.

[0088] Autonomous Device or Robot Motion Information: The motion information transmitted by the mobile robot to the WCAC is comprised of a motion plan, posture information and time stamps of the motion plan.

[0089] Wireless Occupancy Grid: A 2D or 3D grid to denote whether a mobile robot occupying such grid points would block critical wireless communication between communication entities in the environment. The indices of the grid denote spatial coordinates.

[0090] Wireless Communication Priority: Corresponds to the priority of the payload sent via wireless communication. For example, in 5G, quality of service (QoS) flows with the same specific QoS Flow ID receive the same treatment.

[0091] Motion Priority: Denotes the general priority of a particular high-level motion task executed by a mobile robot. The motion priority is a numerical value computed and translated as a function of the time deadline of the mobile robot’s current motion and the importance of the overall high-level motion task (defined below). That is, the motion priority may be computed based on the motion information and the motion time deadline. The motion priority together with the wireless communication priority are used by the wireless area controller WCAC to determine which one of the robot motion system or the wireless communication system will adapt and how they will adapt. For example, by adapting the wireless comms system or the motion plan of the mobile robot. The adaptation is selected to maintain the motion requirements of mobile robots and QoS requirements of the wireless links within the CAI zone. Both the wireless communication priority and motion priority are defined in the same measurement system so that both priorities can be directly compared with each other.

[0092] High-level Motion Task: Denotes the purpose or end-goal of a given motion by a mobile robot. In a CAI zone, mobile robots notify the wireless system their high-level motion task associated to its current motion in the form of motion importance level (defined below). For example. Pick and Place, Mobile Assembly, Search and Rescue Operation, etc. The motion importance level may be mapped to the high-level motion task with motion importance rules (defined below) which can be communicated to a mobile robot upon registration. The wireless system may need this information to compute the motion priority and decide the adaptations possible to meet QoS requirements of the wireless links and motion requirements.

[0093] Motion Time Deadline: Denotes the time required to execute a desired motion from source to target destination. Depending on the nature of the high-level motion task, motion plans will have different motion time deadlines. For example, a ‘Surveillance’ high-level motion task may have a significantly higher motion time deadline than a ‘Time Critical Object Transportation’ high- level motion task.

[0094] Motion Importance Level: A numerical value which denotes the relevance of a desired high-level motion task compared to other high-level motion tasks (e.g., Pick and Place compared to Search and Rescue Operation). Said motion importance levels reflect importance of the end-goal of the motion executed by a mobile robot from a human or societal perspective. The wireless system receives said motion importance level together with the motion time deadline from a mobile robot in order to compute the motion priority. Motion priority may then be compared directly with wireless communication priority.

[0095] Motion Importance Rules: A set of pre-defined mappings which assign a motion importance level to a particular high-level motion task. The motion importance rules may be pre-defined by operators or verticals of the system or standardized by a standards development organization (SDOs) and may be different per CAI zone.

[0096] There is proposed herein a new wireless critical area controller (WCAC) in charge of the management of critical wireless communication in the pre-defined area of interest or CAI. The wireless area controller can be implemented and / or co-located at the base station. The WCAC may be responsible for one or more functions. For example, estimating the impact of the environment changes (e.g. moving obstacles) on the critical wireless link (e.g., QoS prediction using machine learning methods), and evaluating and / or conducting mobile robot route planning for mobile robots within the critical area of interest (CAI) zone (e.g., high-level motion plan from source to target location).

[0097] There is proposed herein a method and devices configured to provide messages for predicting the impact of motion of autonomous devices on critical wireless communication. Autonomous devices, also called mobile robots, may validate that their current motion is within the CAI zone. Upon validation, it communicates its motion information which may comprise the 2D or 3D motion plan with timestamps, 3D posture information (e.g., Universal Robot Description Format (URDF)), together with the motion importance level of the high-level motion task and motion time deadline of the current motion being executed. As defined above, the motion importance level associated with any given high-level motion task may be pre-defined by the motion importance rules. The wireless area controller, upon the reception of the motion information from the mobile robot, may estimate the impact on the critical wireless links within the pre-defined area.

[0098] There is proposed herein a method and devices configured to provide messages for negotiating and enabling motion and communication adaptation to avoid communication interruption. As described above, the wireless area controller (WCAC) may translate and / or compute the motion priority based on received information which may be directly compared to the wireless communication priorities. The controller, based on the priorities in the parameters of the QoS of the critical wireless links within the CAI zone and the motion priorities of the involved mobile robot(s), negotiates the adaptation procedure of the wireless or motion system with the mobile robot(s).

[0099] The controller utilizes this information to determine which action to take in response to a motion plan of an autonomous vehicle. The first option is to accept the motion plan. The controller may directly accept the motion and notify confirmation to the mobile robot. The mobile robot may then execute the original motion plan. The second option is to accept the motion after a wireless link pre-adaptation occurs. The controller may determine that wireless link pre-motion adaptation is possible and notifies the expected QoS impact to a relevant network entity. The network entity may then perform a pre-adaptation action to maintain QoS on critical wireless link. The network entity can then confirm the wireless link pre-adaptation to the controller. The controller may then accept the motion and ultimately notifies confirmation to mobile robot. The mobile robot may then execute the original motion of the motion plan. The third option may be to stop motion partially and negotiate one or more alternative motion plans until one is accepted. The controller communicates a partial motion stop notification and this notification triggers an alternative motion plan for the mobile robot. A wireless occupancy grid, as described above, can be communicated to the mobile robot to accelerate the negotiation loop of alternative motion plans until acceptance of motion. That is, the wireless area controller may be configured to transmit a wireless occupancy grid to the at least one autonomous device for generating the one or more adapted motion plans. The controller uses the computational capability of the robots as provided during a registration procedure, together with wireless communication and motion priorities, to determine how to negotiate an alternative motion plan. The following modes of negotiation of the alternative motion plan are possible. The controller may compute a single or a set of motion plans and communicate them to the mobile robot. The controller may communicate a trigger message to the mobile robot to generate multiple motion plans at the mobile robot. And finally, the controller may communicate a single modified motion plan which may comprise a posture change. This may include the trajectory of the original motion plan not changing but rather just the posture changing.

[0100] There is also proposed herein a method for a mobile robot registration procedure. The registration procedure can be used to notify the mobile robot when it is operating within a CAI zone as well as providing registration information from mobile robot to wireless system. The registration information may comprise ID, type of mobile robot, motion priority support indicator and optionally its physical characteristics. The physical characteristics may comprise the mobile robot material, standard size, shape and computational capabilities. The controller may respond by providing the mobile robot with a set of motion importance rules as defined above. Upon confirmation of the registration by the controller, the mobile robot may now validate every new motion plan if its current motion is within the pre-defined are of interest and thereafter notify its motion information to the controller. The motion information helps the controller estimate the impact on the wireless system produced by the motion of the mobile robot in the pre-defined area of interest.

[0101] The above described methods enable mobile robots to share and receive information with wireless communication entities to adapt and avoid interruption of critical wireless communication. This is achieved by negotiating adaptation actions of mobile robots or parameters of communication entities based on the wireless communication priority and the motion priorities of mobile robots.

[0102] Thus, by implementing the proposed methods and messages, the following objectives may be achieved. A pre-defined area of interest or critical area of interest may be characterized. In this area the mobile robots may be made aware of the wireless communication in its environment and the wireless system may be made aware of the mobile robots in the environment. As a result, the proposed approach may guarantee that the motion of mobile robots does not negatively affect ongoing communication in the area of interest while also meeting the motion requirements of the mobile robots. Further, automation of the selection of the adaptation or negotiation of the wireless system or the motion system for any combination of priorities of both systems to meet their motion and wireless communication requirements in the pre-defined area (CAI).

[0103] Additionally, extend adaptation procedures for any motion and degree of freedom of mobile robots and for any adaptation of the wireless system.

[0104] The proposed approaches defined herein consider wireless systems that provide wireless connectivity in a geographic area where one or more mobile robots execute motion to achieve high-level motion tasks as an application scenario. The wireless system may be, for example, a 5G wireless system or a 6G wireless system. The geographic area may also be called an area of interest, a critical area of interest, or a pre-defined area. The geographic area may be located indoors or outdoors. Therefore, the pre-defined area may be considered as a critical area of interest within which wireless network communication links support one or more critical functions and the wireless network must maintain a minimum quality of service in this area corresponding to a predetermined threshold.

[0105] Within the geographic area, high-level motion tasks executed by mobile robots include, but are not limited to Free Motion, Object Transportation, Spot Welding, Cooperative Carrying of Big Object, Automatic Industrial Production, Pick and Place, Mobile Assembly, Material Handling, Factory Surveillance, Assembly, Time Critical Object Transportation, Operation in Hazardous Environments, and Search and Rescue Operations.

[0106] Figure 1 shows an example of an environment in which the proposed methods, devices, and messages may be implemented. In this case the environment is a factory setting 100. The involved actor in the scenario is the mobile robot 102. The mobile robot is moving within the critical area of interest.

[0107] A Base Station (BS) 104 provides communication services to one or more wireless terminal devices 106, for example on downlink, uplink and sidelink connections. The BS 104 may belong to a 5G communication system, for example, a nextgeneration evolved node B (gNB), as well as an IEEE 802.11 system, for example, as an access point (AP). A wireless communication entity (for example, a UE in 3 GPP systems, or a UT in IEEE 802.11 system) may operate wireless communication with the BS.

[0108] The mobile robot 102 may have a motion plan 108 to execute. The motion plan 108 may start at starting point S at time t, and stipulate that the mobile robot moves via a specified path towards target T at time t + N. In figure 1 , an original motion is shown in the motion plan 108 of the mobile robot 102 as a dotted line. An adapted motion is shown in the motion plan 108 of the mobile robot 102 as a solid line. Both motions may not be included in a single motion plan, but are shown here next to each other for illustrative purposes. The controller 110 is co-located with the BS 104. The base station may have existing communication links with other devices in the geographic area, such as the wireless terminal device 106, and these may be detrimentally affected by the original motion of the mobile robot. It can be seen in the example original motion plan that the original motion takes the mobile robot on a path between the BS and the wireless terminal device. To avoid the disruption caused to the communication link by this motion of the mobile robot, a new motion may be negotiated which takes the mobile robot around the outside of the BS, and thus not along a path which passes between the BS and the device 106.

[0109] Therefore, there is provided herein a method for inhibiting the impact of a planned motion of an autonomous device on a quality of service of wireless links over a wireless network. The method comprises receiving, by a wireless area controller of a predetermined area, information about one or more autonomous devices located within the pre-determined area and the wireless network covering the pre-defined area. Then estimating, by the wireless area controller, the impact of a planned motion of at least one of the autonomous devices on wireless links within the pre-defined area; and determining, by the wireless area controller, based on the estimated impact and received information, whether the planned motion is consistent with maintaining a quality of service of the wireless links above a predetermined threshold. In response to determining that the planned motion is not consistent with maintaining the quality of service of the wireless links above a predetermined threshold, the method comprises negotiating between the wireless area controller and the at least one autonomous device or adapting one or more parameters of the wireless network to maintain the quality of service of the wireless links. The received information about one or more autonomous devices may comprise any combination of a device identifier and motion information. The received information about the wireless network may comprise information indicative of wireless communications priority. The method may also comprise, in response determining that the planned motion is consistent with maintaining the quality of service of the wireless links above a predetermined threshold, accepting the planned motion and transmitting an acceptance of motion notification from the wireless area controller to the at least one autonomous device.

[0110] A motion plan is a sequence of valid spatial configurations that a mobile robot follows to move from source to destination to define a planned motion. It may be computed locally by the mobile robot or computed externally by the wireless area controller or an edge server.

[0111] A mobile robot may become active in the pre-defined area of interest either when it enters the pre-defined area of interest or when it powers on in the pre-defined area. The mobile robot may be informed it is in a pre-defined area of interest (CAI) in two ways. The wireless area controller may broadcast the description of pre-defined area to the mobile robot, e.g. with a Downlink System Information Block (DL-SIB). Alternatively, the mobile robot may broadcast its presence e.g. with an Uplink - Sounding Reference Signal (UL-SRS) and the wireless area controller may respond with the description of the pre-defined area (CAI).

[0112] A registration procedure is also presented herein as a possible pre-adaptation or negotiation step. Upon reception of the description of the pre-defined area, the mobile robot may send its identifier (ID) for registration to the wireless area controller. The mobile robot identifier may optionally be accompanied by a description of the type of robot, its size, material, standard shape, and computational capability, along with its motion priority support. Motion priority support denotes whetherthe mobile robot has motion importance rules already pre-defined within its robot application. The wireless area controller may confirm the registration. Additionally, based on an event, the wireless area controller may update the description of the pre-defined area on demand. After the wireless area controller confirms the registration of the mobile robot, the wireless system and the mobile robot are aware of each other.

[0113] The mobile robot, before the execution of a motion plan, may share its robot motion information to the wireless area controller. The elements of the Robot Motion Information are defined above, along with Motion Time Deadline and Motion Importance Level.

[0114] Robot Motion Information: The motion plan sent from the mobile robot to the wireless area controller may come in different formats. The motion plan is fundamentally a set of numbers that represent where the robot is currently located, the goal location, and all the intermediate locations the mobile robot will traverse in 3D space to reach the desired location according to its motion plan. The 3D or 2D motion plan can be expressed as point-to-point (PTP) movement (time optimal movement between two given points in 3D space), circular movement (e.g. to describe end-effector tip that moves along a circular arc in 3D space), point clouds of motion to describe the translation motion in 3D space, euler angles to describe the orientation of a rigid body with respect to a fixed coordinate system, or the initial and final position in 3D space with its corresponding motion velocity. Compression algorithms can significantly reduce the overhead of wirelessly transmitting this information.

[0115] The posture information sent from the mobile robot to the wireless area controller may also come in different formats to describe 2D or 3D robots’ poses. The posture information is fundamentally a data structure that describes the geometry, kinematics, rotation of fixed (e.g. camera, body, LIDAR) and non-fixed joints (e.g. wheels, robot hand, robot feet, motor connections) together with the links between the joints (e.g. robot arm, robot leg, robot neck, etc.) to specify a robot’s pose. For example, a possible data format for posture information may be Universal Robot Description Format (URDF). URDF contains the mentioned information in XML format. Another data format that complements the UDRF is known as the Semantic Robot Description Format (SRDF) which contains additional information not related to the physical joints, but rather additional information that might be necessary to fully specify a robot’s pose. The time stamps of motion plans sent from the mobile robot to the controller complement the 3D or 2D Motion and 3D or 2D Posture information. One-time stamp of a motion plan is associated to each spatial point the mobile robot will traverse to reach its goal destination.

[0116] Motion Time Deadline: As defined above. The motion time deadline for each new motion plan of the mobile robot is sent to the wireless area controller. To meet the deadline associated with the high-level motion task, the computation of the motion plan as well as its execution of motion by the mobile robot (i.e., movement from source to target destination according to the motion plan) should aim to be below the motion time deadline.

[0117] Motion Importance Level: As is defined above. The motion importance level for each new motion plan of the mobile robot is sent to the wireless area controller. This occurs even if the controller generates the one or more altered motion plans as the importance of the current motion plan is determined by a robot application within the robot.

[0118] Motion Importance Rules: As defined above. If not pre-defined, the motion importance rules may define implementations which include but are not limited to an enumeration of high-level motion tasks the mobile robot is capable of executing, a sorting operation of the high-level motion tasks (e.g., given by the motion time deadline of the high-level motion tasks or another criteria indicative of importance), and assigning a numerical value that denotes importance of the high-level motion task.

[0119] Figure 2 shows a signaling diagram of the messages used to implement the core method proposed herein. The signaling diagram shows the message exchange for the general method.

[0120] The procedure to alter the motion or adapt the wireless system based on the priorities of the tasks consists of 9 steps.

[0121] In a first step 202, the mobile robot becomes active in the pre-defined area. The mobile robot may have previously registered to the wireless area controller as mentioned above. Alternatively, determining that an autonomous device has become active within the pre-defined area may initiate a registration procedure. Upon receiving registration information, the controller acknowledges and responds in the downlink (or sidelink) with the pre-defined area ID and further information depending on the information provided by the mobile robot during registration. That is, the wireless area controller may respond with Motion Importance Rules if the mobile robot indicated no motion priority support during registration. Optionally, the mobile robot can communicate its current high-level motion task directly to the controller. In this case, Motion Importance Rules are only defined in the controller. Alternatively, the wireless area controller may request Motion Importance Rules from the mobile robot if said mobile robot indicated motion priority support during registration. The mobile robot may then communicate its pre-defined Motion Importance Rules and the controller acknowledges this information. Optionally, if the controller also has Motion Importance Rules defined for its pre-defined area ID, the controller responds with consolidated Motion Importance Rules to the mobile robot.

[0122] Mobile robot(s) computes motion plan from source location to target location. The method continues if the current motion plan is determined to be within the pre-defined area of interest.

[0123] At step 204, If the trajectory of the motion plan lies within the pre-defined area, the mobile robot communicates its robot motion information together with motion time deadline and motion importance level per motion plan to the controller. For each new motion plan, mobile robots communicate said information and wait for either acceptance, partial stop or rejection of motion. At step 206, upon receiving the motion information from mobile robot(s), the controller estimates the impact of the motion on the wireless system communications within the pre-defined area of interest. The controller can estimate the impact of the environmental changes on wireless links caused by the mobile robot. For example, the mobile robot becomes an obstacle or obstruction that blocks a line of sight (LOS) condition and changes it to a no line of sight (NLOS) condition. The estimation utilizes the robot motion information together with the previously shared information during registration such as standard size, shape and material of mobile robot. Therefore, the method may comprise estimating by the wireless area controller the impact of a motion plan on wireless links within the pre-defined area based on a planned autonomous device route of the motion plan, a planned autonomous device pose of the motion plan, and one or more materials of the autonomous device. The controller may then compute motion priority as described above. The controller compares the priority information of the robot motion and the wireless links to determine whether to notify motion confirmation, notify motion partial stop or notify motion rejection to the mobile robot. The controller may trigger wireless link pre-adaptation before notifying motion confirmation to the mobile robot. Partial motion stop is an intermediate stop notification sent to the mobile robot to stop its current motion and to indicate a negotiation procedure to an alternative motion plan is in progress until the motion of said mobile robot is accepted by the controller. Detailed triggering conditions for each decision taken by the controller are detailed in relation to the specific embodiments described below. The motion information may comprise any combination of: motion plan and timestamps, posture information, motion importance level of the motion task, motion time deadline of motion.

[0124] At optional step 208, depending on the priorities of the parameters of QoS associated to wireless links between the communication entities and the priorities of the robot motion task, the controller may decide to perform pre-adaptation of wireless link based on the robot motion information provided by the mobile robot. Wireless link adaptations may include but are not limited to allocating more frequency resources during obstruction time (based on provided 2D or 3D motion, posture and time-stamp information), change operating frequency band, prepare a secondary wireless link with another base station (e.g., dual-connectivity) beforehand, change of operating radio access technology, etc. The wireless area controller may be configured to notify the one or more autonomous devices that the planned motion is accepted in response to receiving confirmation from the network entity of the wireless network that the wireless network has adapted for the planned motion.

[0125] More specifically, the wireless network adaptation may comprise: scheduling more time -frequency resources, adapting beamforming, adapting modulation and coding scheme, reconfiguring retransmissions (e.g., redundancy version of HARQ), triggering establishment of a secondary wireless link (e.g., dual -connectivity), changing / establishing network slice, triggering a handover execution, pre-assigning a random access preamble, configuring transmission power (either BS or UE transmission power), deploying / activating another network node (e.g., a drone / reconfigurable intelligent surface is deployed or activated), performing inter-cell interference coordination (e.g., coordinated multi-point, multi-BS radio resource management), changing operating frequency band, changing radio access technology. These may all be performed by a base station of the network.

[0126] Generally, the adaptation may include: A network entity changing control policy (e.g., Policy Control Function (PCF)) at involved network entities (e.g., User Plane Function (UPF)). Where PCF is a network function that determines and controls policy rules for user services and UPF is a network function responsible for data packet routing and forwarding. A network entity (e.g., Session Management Function (SMF)) reconfiguring associated protocol data unit (PDU) session (e.g., packet routing decisions, allocation of resources, setting up QoS parameters) at involved network entities (e.g., UPF). Where SMF is a network function responsible for establishing, maintaining, and terminating user sessions in the 5G core network. A network entity (e.g., SMF) selecting different network entities (e.g., different UPF) to serve associated network session.

[0127] The adapting of one or more parameters of the wireless network to maintain the quality of service of the wireless links may be achieved by triggering the wireless network to adapt its parameters to alter the wireless link between any combination of a first autonomous device and the wireless network, the first autonomous device and a second autonomous device, or the second autonomous device and the wireless network. This may be carried out after determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold. Thus, the controller may be configured to compare the motion priority and information indicative of wireless communications priority to determine whether to negotiate with one or more of the autonomous devices or adapt one or more parameters of the wireless network. Triggering the wireless network to adapt its parameters may be done by transmitting by the controller the estimated impact of the motion plan on the quality of service to a network entity of the wireless network.

[0128] At step 210, after direct acceptance or acceptance after wireless link pre-adaptation, the controller communicates motion confirmation notification to mobile robot. Alternatively, the controller may communicate a partial motion stop notification to the mobile robot.

[0129] At step 212, the mobile robot may receive a partial motion stop. Said notification triggers a negotiation procedure for an alternative motion plan of mobile robot. Multiple iterations may occur until the controller accepts the motion. Negotiation iterations don’t end until a motion plan computed by the mobile robot is accepted by the controller. The controller uses the computational capability of the robots provided during registration together with wireless communication and motion priorities, to determine the negotiation procedure to an alternative motion plan. The possible negotiation procedures are outlined above. Detailed triggering conditions for each decision taken by the controller are detailed in relation to the specific embodiments described below.

[0130] Therefore, the proposed method may comprise, in response to determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold, transmitting a stop motion indication from the wireless area controller to at least one of the pluralities of autonomous devices and negotiating an adapted motion plan for one or more autonomous devices comprising one or more of an alternative autonomous device route and an alternative autonomous device pose.

[0131] The negotiating the adapted motion plan may be achieved by transmitting a trigger from the wireless area controller to the at least one autonomous device to generate one or more adapted motion plans. The wireless area controller may then receive from the at least one autonomous device the one or more adapted motion plan and select one of the one or more adapted motion plans. An indication of the selected adapted motion plan is then transmitted from the wireless area controller to the at least one autonomous device.

[0132] Further details of the possible negotiation procedures are:

[0133] In a first option, the controller communicates a trigger to the mobile robot to generate a single or a set of motion plans. The mobile robot communicates said motion plans to the controller. The controller selects a motion plan and communicates the selection to the mobile robot. Therefore, the method may comprise negotiating the adapted motion plan by, at the wireless area controller generating one or more adapted motion plans. The controller may then estimate the impact of the one or more adapted motion plans, select one of the one or more adapted motion plans based on the estimated impact, and transmit the selected motion plan to the at least one autonomous device to be executed.

[0134] In a second option, the controller computes a single or a set of motion plans and communicates them to the mobile robot. The mobile robot selects a motion plan among the received alternative motion plans. The mobile robot communicates the selected motion plan to the controller. Therefore, the method may comprise negotiating the adapted motion plan by generating at the wireless area controller a plurality of adapted motion plans and transmitting them to the at least one autonomous device. The at least one autonomous device may then estimate the impact of the one or more adapted motion plans, select one of the one or more adapted motion plans based on the estimated impact and transmit an indication to the wireless area controller of the selected adapted motion plan. The wireless controller may then receive the indication of the adapted motion plan selected to be executed by the at least one autonomous device.

[0135] In a third option, the controller communicates a modified motion plan with a posture change during the time of wireless obstruction time of original motion plan.

[0136] At step 214, the controller confirms the motion and communicates motion confirmation to the mobile robot(s).

[0137] At steps 216a or 216b Mobile robot(s) executes motion plan while meeting the QoS requirements of wireless links between the communication entities within the pre-defined area and meeting motion requirements. This may be either by executing the original motion plan after wireless communication network adaptation or executing an adapted motion plan.

[0138] The process of negotiating an Alternative Motion Plan may comprise the controller computing a single or a set of motion plans and communicating them to mobile robot. Alternatively, the controller may communicate a modified motion plan with a posture change during the time of wireless obstruction time.

[0139] The options for adaptation of the wireless network or negotiation of an adapted motion plan will now be described in relation to the following embodiments.

[0140] In an embodiment, the proposed method and messages are implemented by the controller in a BS belonging to a 3GPP system, where the system negotiates to an alternative motion plan. The controller may configure the geographical location (e.g., of a factory) as a pre-defined area of interest (CAI zone) in 3D space, where multiple communication entities are communicating wirelessly and a mobile robot performs motion. The BS provides wireless coverage to the pre-defined area of interest where critical wireless communications between the communication entities operate with QoS flows and values that specify high priority. The user equipment served by the BSs in the pre-defined area may include but are not limited to static or mobile robots (e.g., robotic arms, motor drives, switches, or other actuator types). A mobile robot, autonomous, aware of its 3D motion and with a communication function, enters into the pre-defined area and its high-level motion task may have low priority (e.g., ‘Pick and Place’ associated to a low motion importance level) as well as with a large motion time deadline (e.g., 10 s).

[0141] Figure 3 shows a signaling diagram of the messages used to implement this embodiment. The signaling diagram shows the message exchange for the method.

[0142] At step 302, Mobile robot registration procedure occurs. All possible registration procedure options are described in detail below. As part of this registration procedure information about one or more autonomous devices may be provided to the controller. The received information about one or more autonomous devices may comprise at least one characteristic comprising an identifier of the at least one autonomous device.

[0143] Steps 304, 306, and 308 are common to the general procedure described above. Detailed triggering conditions for each decision taken by the controller in Step 308 are as follows. In this embodiment, the motion task of the mobile robot may have a high motion time deadline 8 and low motion importance level [>. For example, the controller may compute motion priority as a weighted sum with different pre-defined weights as pm= Wp p + where the output is a motion priority value in the same measurement system as wireless communication priority. The motion priority and the wireless communication priority can be unified in a common priority table or use different type of criteria (e.g., implementation-specific rules such as pm< SQ ). The controller, based on priorities, may decide to negotiate to an alternative motion plan computed by the mobile robot. An equivalent step to step 208 of the general method is skipped as the controller determines to negotiate to an alternative motion plan computed by mobile robot instead of adapting the wireless network.

[0144] At step 310, the controller notifies a partial motion stop notification to the mobile robot, indicating an alternative motion plan negotiation procedure to the mobile robot.

[0145] At step 312, the decision is notified to the mobile robot, and the mobile robot adapts its motion plan. Iteratively, the controller confirms or performs partial motion stop of the adapted motion plan of mobile robot. The controller may optionally share a 2D or 3D wireless occupancy grid to the mobile robot to accelerate the negotiation loop.

[0146] At step 314, the controller sends motion confirmation to mobile robot or final motion rejection to finish negotiation loop.

[0147] At step 316, the mobile robot executes the adapted motion plan. The motion of the mobile robot does not impact the QoS requirements of wireless links between the communication entities within the pre-defined area while meeting the motion requirements.

[0148] In addition to the above, the controller may compute a single or a set of motion plans and communicate them to mobile robot. Detailed triggering conditions for each decision taken by the controller in Step 306 are: In an embodiment, the high-level task of the mobile robot has high motion priority (e.g., Time Critical Object Transportation associated to a high motion importance level) as well as with a short motion time deadline (e.g., 3 s). Critical wireless communications between the communication entities operate with QoS flows with values that specify high priority. The controller computes motion priority and uses said priority and wireless communication priority together with the low computational capability indicator provided by mobile robot during registration. Due to these conditions, the controller computes a single or a set of motion plans and communicates them to mobile robot. In this embodiment, compared to the previous embodiment, the steps of negotiation remain the same, except for in step 310 the controller communicates a set of valid alternative motion plan(s) to the mobile robot, and in step 312 the mobile robot selects the motion plan.

[0149] In addition to the above, the controller may communicate a modified motion plan with a posture change during the time of wireless obstruction time. Detailed triggering conditions for each decision taken by the controller in step 306 are the same as above. However, the mobile robot communicates high computational capability indicator during registration. Due to these conditions, the controller decides to communicate a modified motion plan with a posture change during the time of wireless obstruction time. The steps of negotiation remain the same, except for in step 310 the controller communicates a modified motion plan with a posture change during the time of wireless obstruction, and in step 312 the mobile robot confirms motion plan provided by the controller.

[0150] In an embodiment, the proposed method and messages are implemented by the controller in a BS where the system negotiates to wireless link adaptation. The controller has a set of pre-defined and motion importance rules (e.g., from 3GPP standardization) and the mobile robot also has motion importance rules pre-defined within its robot application. The mobile robot enters into the pre-defined area and its high-level motion task has high priority (e.g., ‘ Search and Rescue’ associated with a high motion importance level) with a low motion time deadline (e.g., 3 s). The BS provides wireless coverage within the predefined area where the wireless communication between the communication entities operate with QoS flows with a GBR Resource Type.

[0151] Figure 4 shows a signaling diagram of the messages used to implement this embodiment. At step 401 , the mobile robot registration procedure occurs. All possible registration procedure options are described in detail below.

[0152] Steps 404, and 406 are common to the general procedure described above in figures 2 and 3. Detailed triggering conditions for each decision taken by the controller in step 406 are as follows. In this embodiment, high-level motion task of the mobile robot has a low motion time deadline 8 and high motion importance level [>. The controller computes the motion priority pmand based on an implementation-specific rule (e.g., pm> 5QI) decides to perform wireless link adaptation. Further, based on the QoS impact (e.g., estimated with ML methods), the controller estimates the wireless link adaptation action to maintain QoS requirements of critical wireless link between BS and the UE (e.g., actuator) at time t + K. For example, the controller computes an in-advance prioritization weight as w — fa (•) = max(0, Qr— Q ), which is proportional to the degree the expected QoS Q is below the QoS requirement Qr. A scheduler in the BS uses w to prioritize resources of critical wireless link at time t + K.

[0153] At step 408, the BS pre-schedules at time t + K. For example, more frequency resources, dual-connectivity, change of RAT, etc. At step 410, the Wireless Terminal Device (e.g., UE) acknowledges new resources at time t + K.

[0154] At step 412, the controller confirms motion to mobile robot.

[0155] Equivalent steps to 312 and 314 are skipped as the original motion from the mobile robot is not modified.

[0156] At step 414, the mobile robot executes motion plan and the motion of the mobile robot does not impact the QoS requirements of wireless links between the communication entities within the pre-defined area and meeting the motion time deadline and motion importance level of its own motion.

[0157] Another embodiment comprises a Robot Registration Procedure and concerns the registration procedure of the mobile robot to the controller residing in BS. The registration procedures are described above in reference to figure 2. In any of the variations of the registration procedure, the mobile robots may become aware of a pre-defined area when BS(s) broadcast the pre-defined area ID via a DL-SIB. Optionally, the wireless system may become aware of the mobile robots in the pre-defined area when the mobile robots broadcast their presence via UL-SRS. For ease of understanding, the DL-SIB implementation and UL-SRS implementation are split into two different implementations. Within these two options there are further options.

[0158] Therefore, there is provided a method comprising, as part of a registration procedure: transmitting, from the autonomous device to the wireless area controller, an indication of presence; broadcasting or transmitting by the wireless area controller, in response to receiving the indication of presence, a description of the pre-defined area to the newly active autonomous device. The wireless area controller may receive from the autonomous device one or more characteristics of the autonomous device comprising at least a device identifier the autonomous device. In response to receiving the one or more characteristics, the autonomous device may be registered by the wireless area controller. The wireless area controller may then transmit a registration acknowledgement and a pre-defined area identifier to the newly active autonomous device. The one or more characteristics may further comprise any combination of type of device, size, material, shape, computational capability, and motion priority support.

[0159] Figure 5 shows a DL-SIB implementation where at step 504 the controller broadcasts the pre-defined area ID. At step 506 the mobile robot registers and provides the relevant information but the mobile robot does not support motion priority. The controller has pre-defined Motion Importance Rules associated to a pre-defined area ID. At step 508, the controller communicates said rules to the mobile robot. Figure 6 shows another DL-SIB implementation where at step 604 the controller broadcasts the pre-defined area ID. At step 606 the mobile robot registers and provides the relevant information but the mobile robot does not support motion priority. Similarly, the controller has pre-defined Motion Importance Rules associated to a pre-defined area ID. However, the controller does not communicate said rules to the mobile robot. The mobile robot communicates its high-level motion task directly to the controller and the controller determines the motion priority therefrom.

[0160] Figure 7 shows an implementation where at step 704 the mobile robot broadcasts its presence, e.g. within an UL-SRS. At step 706, the controller acknowledges the broadcast of presence from the mobile robot and responds with the pre-defined area ID. In this embodiment the mobile robot does support motion priority. The controller also does not have pre-defined Motion Importance Rules associated to the area ID. The mobile robot therefore communicates its Motion Importance Rules with the registration message at step 708.

[0161] Figure 8 shows another implementation where the mobile robot broadcasts its presence, e.g. within an UL-SRS. However, in this embodiment the mobile robot supports motion priority. At step 802, the mobile robot registers with the controller. The mobile robot broadcasts its presence at step 804. At step 806 the controller (WCAC) acknowledges the registration and responds with the pre-defined area ID. At step 808, the mobile robot provides information for registering at the controller. As the mobile robot supports motion priority, the information includes motion importance rules. Thus, the mobile robot communicates its Motion Importance Rules with the registration message. However, in this embodiment the controller has another set of predefined Motion Importance Rules associated to the pre-defined area ID. At step 810, the controller sends consolidated Motion Importance Rules to the Mobile Robot. Therefore, instead of simply using the rules provided by the mobile robot, the controller responds with consolidated Motion Importance Rules upon reception of Motion Importance Rules from Mobile Robot. By consolidated it is meant that a combination of both sets of rules is generated. That is, if a specific importance level overlaps with both rules (i.e. is the same), then only one of them is used. If there is a mismatch between the motion importance level for a specific task in the different sets of motion importance rules, the motion importance level of the mobile robot takes precedence. If one motion importance level is not present in either set of motion importance rules, the motion importance level is added to the consolidated motion importance rule set.

[0162] According to the method described above there is also provided a wireless area controller configured to perform the method. The is also provided an autonomous device configured to perform the method described herein. There is also provided a wireless network entity of any type described herein and configured to perform the method as described above. Accordingly, the devices are configured to generate and transmit messages as necessary to perform the respective part of the method described above.

[0163] Therefore, there is provided a controller for communicating with a plurality of autonomous devices over a wireless network. The controller is configured to receive information about one or more autonomous devices located within a pre-determined area and the wireless network covering the pre-defined area. The controller is configured to then estimate the impact of a planned motion of at least one of the autonomous devices on wireless links within the pre-defined area. Based on the estimated impact and received information, the controller can then determine whether the planned motion is consistent with maintaining a quality of service of the wireless links above a predetermined threshold. In response to determining that the planned motion is not consistent with maintaining the quality of service of the wireless links above a predetermined threshold, the controller is configured to then negotiate with the at least one autonomous device or adapt one or more parameters of the wireless network to maintain the quality of service of the wireless links. In response to determining that the planned motion is consistent with maintaining the quality of service of the wireless links above a predetermined threshold, the controller may be configured to accept the planned motion and transmit an acceptance of motion notification to the at least one autonomous device. The controller may also be configured to trigger the wireless network to adapt its parameters to alter the wireless link between any combination of a first autonomous device and the wireless network, the first autonomous device and a second autonomous device, or the second autonomous device and the wireless network. The controller may be configured to compute a motion priority based on the motion importance level and the motion time deadline. After determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold, the controller may be configured to compare the motion priority and information indicative of wireless communications priority to determine whether to negotiate with one or more of the autonomous devices or adapt one or more parameters of the wireless network. The controller may be configured to trigger the wireless network to adapt its parameters by transmitting the estimated impact of the motion plan on the quality of service to a network entity of the wireless network. The controller may also be configured to notify the one or more autonomous devices that the planned motion is accepted in response to receiving confirmation from the network entity of the wireless network that the wireless network has adapted for the planned motion.

[0164] The controller may be configured to estimate the impact of a motion plan on wireless links within the pre-defined area based on a planned autonomous device route of the motion plan, a planned autonomous device pose of the motion plan, and one or more materials of the autonomous device. The controller may be configured to, in response to determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold, transmit a stop motion indication to at least one of the autonomous devices and negotiate an adapted motion plan for one or more autonomous devices comprising one or more of an alternative autonomous device route and an alternative autonomous device pose.

[0165] The controller may be configured to, as part of the registration procedure, broadcast a description of the pre-defined area or transmit the description of the pre-defined area to the newly active autonomous device in response to receiving an indication of presence from the autonomous device. The controller may be configured to register the autonomous device in response to receipt of one or more characteristics of the autonomous device comprising at least a device identifier and transmit an acknowledgement and a pre-defined area identifier to the newly active autonomous device once registered.

[0166] The autonomous device is configured to determine a planned motion is at least partially within the pre-defined area and transmit to a pre-defined area controller, motion information associated with the planned motion. The device may be configured to receive an indication to execute the planned motion according to the transmitted motion information. The device may be configured to receive an adapted motion plan from the controller and execute the adapted motion plan to maintain a quality of service of wireless links within the pre-defined area. The device may be configured to receive an indication to generate one or more adapted motion plans to maintain a quality of service of critical wireless links within the pre-defined area; generate the one or more adapted motion plans; transmit the one or more adapted motion plans to the controller; receive an indication from the controller specifying one of the transmitted adapted motion plans; and execute the specified adapted motion plan.

[0167] The wireless network entity is configured to receive an indication from a wireless area controller to change its current state so as to adapt the parameters of the wireless network to be consistent with maintaining a quality of service of the wireless links above a predetermined threshold during a planned motion of at least one of the autonomous devices. The wireless network entity may be configured to adapt the parameters of the wireless network by performing any one or more of allocating more frequency resources during the motion plan, changing an operating frequency band, preparing a dual -connectivity wireless link, changing an operating radio access technology. The wireless network entity may be configured to transmit to the controller information about the wireless network covering the pre-defined wireless area comprising information indicative of wireless communications priority. The above proposed method, devices, and messages introduce a pre-defined area of interest (CAI) and a registration procedure for mobile robots. This enables the mobile robot to be aware of the area and provide initial registration information to the wireless system in order to compute impact of any planned motion in the area.

[0168] The above proposed approach introduces a Wireless Area Controller (WCAC). The controller enables management of critical wireless communication in the pre-defined area. This includes estimation of the impact of the environment changes on the critical wireless link caused by one or more mobile robots. This may include machine learning methods.

[0169] The above described approach enables the exchange of Robot Motion Information, Robot Posture Information and Timestamps. In doing so, assessment and prediction of the expected impact on the wireless communication system may be determined. Based on this impact, the wireless area controller confirms or rejects the planned motion of the mobile robot.

[0170] The above described approach introduces Motion Priority in the form a Motion Time Deadline and Motion Importance Levels signaled to the wireless system for every new motion plan to be executed. In this way, the wireless communication system is enabled to be aware of the priority of the motion executed by the mobile robots. Based on this and the priority of the wireless communication in the pre-defined area, the wireless area controller negotiates which aspect will adapt. For example, the wireless network or the planned motion.

[0171] Therefore, the above described approach provides for adaptation of motion or wireless communication depending on the priorities of both systems. Thereby enabling completion of communication and motion tasks while their respective requirements are met.

[0172] The applicant hereby discloses in isolation each individual feature described herein and any combination of two or more such features, to the extent that such features or combinations are capable of being carried out based on the present specification as a whole in the light of the common general knowledge of a person skilled in the art, irrespective of whether such features or combinations of features solve any problems disclosed herein, and without limitation to the scope of the claims. The applicant indicates that aspects of the present invention may consist of any such individual feature or combination of features. In view of the foregoing description it will be evident to a person skilled in the art that various modifications may be made within the scope of the invention.

Claims

CLAIMS1. A controller for communicating with a plurality of autonomous devices over a wireless network, the controller configured to: receive information about one or more autonomous devices located within a pre -determined area and the wireless network covering the pre-defined area; estimate the impact of a planned motion of at least one of the autonomous devices on wireless links within the predefined area; and determine, based on the estimated impact and received information, whether the planned motion is consistent with maintaining a quality of service of the wireless links above a predetermined threshold; and in response to determining that the planned motion is not consistent with maintaining the quality of service of the wireless links above a predetermined threshold, negotiate with the at least one autonomous device or adapt one or more parameters of the wireless network to maintain the quality of service of the wireless links.

2. The controller according to claim 1, wherein in response to determining that the planned motion is consistent with maintaining the quality of service of the wireless links above a predetermined threshold, accept the planned motion and transmit an acceptance of motion notification to the at least one autonomous device.

3. The controller according to claim 1 or 2, wherein the controller is configured to adapt one or more parameters of the wireless network to maintain the quality of service of the wireless links by triggering the wireless network to adapt its parameters to alter the wireless link between any combination of a first autonomous device and the wireless network, the first autonomous device and a second autonomous device, or the second autonomous device and the wireless network.

4. The controller according to any preceding claim, wherein the pre-defined area is a critical area of interest within which critical wireless network communication links support one or more critical functions and the wireless network must maintain a minimum quality of service in this area corresponding to the predetermined threshold.

5. The controller according to any preceding claim, wherein the received information about one or more autonomous devices comprises any combination of a device identifier and motion information.

6. The controller according to any preceding claim, wherein the received information about the wireless network comprises information indicative of wireless communications priority.

7. The controller according to claim 5 or 6, wherein the motion information comprises any combination of: motion plan and timestamps, posture information, motion importance level of the motion task, motion time deadline of motion.

8. The controller according to claim 7, wherein the controller is configured to compute a motion priority based on the motion importance level and the motion time deadline.

9. The controller according to claim 8, wherein, after determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold, the controller is configured to compare the motion priority and information indicative of wireless communications priority to determine whether to negotiate with one or more of the autonomous devices or adapt one or more parameters of the wireless network.

10. The controller according to any of claims 2 to 9, wherein the controller is configured to trigger the wireless network to adapt its parameters by transmitting the estimated impact of the motion plan on the quality of service to a network entity of the wireless network.

11. The controller according to claim 10, wherein the controller is configured to notify the one or more autonomous devices that the planned motion is accepted in response to receiving confirmation from the network entity of the wireless network that the wireless network has adapted for the planned motion.

12. The controller according to any preceding claim, wherein the controller is configured to estimate the impact of a motion plan on wireless links within the pre-defined area based on a planned autonomous device route of the motion plan, a planned autonomous device pose of the motion plan, and one or more materials of the autonomous device.

13. The controller according to any preceding claim, wherein the controller is configured to, in response to determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold, transmit a stop motion indication to at least one of the plurality of autonomous devices and negotiate an adapted motion plan for one or more autonomous devices comprising one or more of an alternative autonomous device route and an alternative autonomous device pose.

14. The controller according to claim 13, wherein the controller is configured to negotiate the adapted motion plan by transmitting a trigger to the at least one autonomous device to generate one or more adapted motion plans, receiving the one or more adapted motion plans, selecting one of the one or more adapted motion plans, and transmitting an indication of the selected adapted motion plan to the at least one autonomous device.

15. The controller according to claim 14, wherein the controller is configured to transmit a wireless occupancy grid to the at least one autonomous device to be used when generating the one or more adapted motion plans.

16. The controller according to claim 13, wherein the controller is configured to negotiate the adapted motion plan by generating one or more adapted motion plans, estimating the impact of the one or more adapted motion plans, selecting one of the one or more adapted motion plans based on the estimated impact, and transmitting the selected motion plan to the at least one autonomous device to be executed.

17. The controller according to claim 13, wherein the controller is configured to negotiate the adapted motion plan by generating a plurality of adapted motion plans and transmit them to the at least one autonomous device and receive an indication form the at least one autonomous device indicating which of the plurality of adapted motion plans has been selected to be executed by the at least one autonomous device.

18. The controller according to claim 13, wherein the received information about one or more autonomous devices comprises at least one characteristic comprising an identifier of the at least one autonomous device.1 . The controller according to any preceding claim, wherein the controller is configured to determine when an autonomous device has become active within the pre-defined area and in response initiate a registration procedure.

20. The controller according to claim 19, wherein the controller is configured to, as part of the registration procedure, broadcast a description of the pre-defined area or transmit the description of the pre-defined area to the newly active autonomous device in response to receiving an indication of presence from the autonomous device.

21. The controller according to claim 19 or 20, wherein the controller is configured to register the autonomous device in response to receipt of one or more characteristics of the autonomous device comprising at least a device identifier and transmit an acknowledgement and a pre-defined area identifier to the newly active autonomous device once registered.

22. The controller according to claim 21, wherein the one or more characteristics further comprise any combination of type of device, size, material, shape, computational capability, and motion priority support.

23. An autonomous device for executing a motion plan within a pre-defined area covered by a wireless network, the autonomous device configured to: determine a planned motion is at least partially within the pre-defined area; and transmit to a pre-defined area controller, motion information associated with the planned motion.

24. The autonomous device according to claim 23, wherein the device is configured to receive an indication to execute the planned motion according to the transmitted motion information.

25. The autonomous device according to claim 23, wherein the device is configured to receive an adapted motion plan from the controller and execute the adapted motion plan to maintain a quality of service of wireless links within the pre-defined area.

26. The autonomous device according to claim 23, wherein the device is configured to receive an indication to generate one or more adapted motion plans to maintain a quality of service of critical wireless links within the pre-defined area; generate the one or more adapted motion plans; transmit the one or more adapted motion plans to the controller; receive an indication from the controller specifying one of the transmitted adapted motion plans; and execute the specified adapted motion plan.

27. The autonomous device according to claim 26, wherein the device is configured to receive a wireless occupancy grid of the pre-defined area and generate the one or more adapted motion plans based on the received grid.

28. The autonomous device according to any of claims 24 to 27, wherein the autonomous device is configured to broadcast its presence and receive from the controller a description of the pre-defined area.

29. The autonomous device according to any of claims 24 to 27, wherein, prior to the determining step, the autonomous device is configured to receive a broadcast description of the pre-defined area from the controller and transmit an identifier of the autonomous device to the controller.

30. The autonomous device according to any of claims 24 to 29, wherein the autonomous device is configured to also transmit at least one of type of device, size, material, shape, computational capability, and motion priority support.

31. The autonomous device according to any of claims 24 to 30, wherein, if the autonomous device does not have motion priority support, the autonomous device is configured to transmit motion importance rules associated with the planned motion to the controller in response to receiving a request from the controller for motion importance rules.

32. The autonomous device according to any of claims 24 to 30, wherein the autonomous device is configured to transmit motion importance rules associated with the planned motion.

33. A wireless network entity for providing wireless network coverage for wireless links between to one or more autonomous devices within a pre-defined wireless area, the wireless network entity configured to receive an indication from a wireless areacontroller to change its current state so as to adapt the parameters of the wireless network to be consistent with maintaining a quality of service of the wireless links above a predetermined threshold during a planned motion of at least one of the autonomous devices.

34. The wireless network entity according to claim 33, wherein the wireless network entity is configured to adapt the parameters of the wireless network by performing any one or more of allocating more frequency resources during the motion plan, changing an operating frequency band, preparing a dual -connectivity wireless link, changing an operating radio access technology.

35. The wireless network entity according to claim 33 or 34, wherein the wireless network entity is configured to transmit to the wireless area controller information about the wireless network covering the pre-defined wireless area comprising information indicative of wireless communications priority.

36. A method for inhibiting the impact of a planned motion of an autonomous device on a quality of service of wireless links over a wireless network, the method comprising: receiving, by a wireless area controller of a pre-determined area, information about one or more autonomous devices located within the pre-determined area and the wireless network covering the pre-defined area; estimating, by the wireless area controller, the impact of a planned motion of at least one of the autonomous devices on wireless links within the pre-defined area; and determining, by the wireless area controller, based on the estimated impact and received information, whether the planned motion is consistent with maintaining a quality of service of the wireless links above a predetermined threshold; and in response to determining that the planned motion is not consistent with maintaining the quality of service of the wireless links above a predetermined threshold, negotiating between the wireless area controller and the at least one autonomous device or adapting one or more parameters of the wireless network to maintain the quality of service of the wireless links.

37. The method according to claim 36, wherein the method comprises, in response determining that the planned motion is consistent with maintaining the quality of service of the wireless links above a predetermined threshold, accepting the planned motion and transmitting an acceptance of motion notification from the wireless area controller to the at least one autonomous device.

38. The method according to claim 36 or 37, wherein the method comprises adapting one or more parameters of the wireless network to maintain the quality of service of the wireless links by triggering the wireless network to adapt its parameters to alter the wireless link between any combination of a first autonomous device and the wireless network, the first autonomous device and a second autonomous device, or the second autonomous device and the wireless network.

39. The method according to any of claims 36 to 38, wherein the pre-defined area is a critical area of interest within which critical wireless network communication links support one or more critical functions and the wireless network must maintain a minimum quality of service in this area corresponding to the predetermined threshold.

40. The method according to any of claims 36 to 39, wherein the received information about one or more autonomous devices comprises any combination of a device identifier and motion information.

41. The method according to any of claims 36 to 40, wherein the received information about the wireless network comprises information indicative of wireless communications priority.

42. The method according to claim 40 or 41, wherein the motion information comprises any combination of: motion plan and timestamps, posture information, motion importance level of the motion task, motion time deadline of motion.

43. The method according to claim 42, wherein the method comprises computing a motion priority based on the motion importance level and the motion time deadline.

44. The method according to claim 43, wherein the method comprises, after determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold, comparing the motion priority and information indicative of wireless communications priority to determine whether to negotiate with one or more of the autonomous devices or adapt one or more parameters of the wireless network.

45. The method according to any of claims 37 to 44, wherein the method comprises triggering the wireless network to adapt its parameters by transmitting the estimated impact of the motion plan on the quality of service to a network entity of the wireless network.

46. The method according to claim 45, wherein the method comprises the wireless area controller notifying the one or more autonomous devices that the planned motion is accepted in response to receiving confirmation from the network entity of the wireless network that the wireless network has adapted for the planned motion.

47. The method according to any of claims 36 to 46, wherein the method comprises estimating by the wireless area controller the impact of a motion plan on wireless links within the pre-defined area based on a planned autonomous device route of the motion plan, a planned autonomous device pose of the motion plan, and one or more materials of the autonomous device.

48. The method according to any of claims 36 to 47, wherein the method comprises, in response to determining that the planned motion is not consistent with maintaining the quality of service above a predetermined threshold, transmitting a stop motion indication from the wireless area controller to at least one of the plurality of autonomous devices and negotiating an adapted motion plan for one or more autonomous devices comprising one or more of an alternative autonomous device route and an alternative autonomous device pose.

49. The method according to claim 48, wherein the method comprises negotiating the adapted motion plan by transmitting a trigger from the wireless area controller to the at least one autonomous device to generate one or more adapted motion plans, receiving by the wireless area controller from the at least one autonomous device the one or more adapted motion plans, selecting by the wireless area controller one of the one or more adapted motion plans, and transmitting from the wireless area controller an indication of the selected adapted motion plan to the at least one autonomous device.

50. The method according to claim 49, wherein the method comprises transmitting from the wireless area controller a wireless occupancy grid to the at least one autonomous device for generating the one or more adapted motion plans.

51. The method according to claim 48, wherein the method comprises negotiating the adapted motion plan by, at the wireless area controller: generating one or more adapted motion plans, estimating the impact of the one or more adapted motion plans, selecting one of the one or more adapted motion plans based on the estimated impact, and transmitting the selected motion plan to the at least one autonomous device to be executed.

52. The method according to claim 48, wherein the method comprises negotiating the adapted motion plan by: generating at the wireless area controller a plurality of adapted motion plans and transmitting them to the at least one autonomous device,estimating at the at least one autonomous device the impact of the one or more adapted motion plans, selecting one of the one or more adapted motion plans based on the estimated impact and transmitting an indication to the wireless area controller of the selected adapted motion plan, and receiving at the wireless controller the indication of the one or more adapted motion plans selected to be executed by the at least one autonomous device.

53. The method according to claim 48, wherein the received information about one or more autonomous devices comprises at least one characteristic comprising an identifier of the at least one autonomous device.

54. The method according to any of claims 36 to 53, wherein the method comprises determining at the wireless area controller that an autonomous device has become active within the pre-defined area and in response initiating a registration procedure.

55. The method according to claim 54, wherein the method comprises, as part of the registration procedure: transmitting, from the autonomous device to the wireless area controller, an indication of presence; broadcasting or transmitting by the wireless area controller, in response to receiving the indication of presence, a description of the pre-defined area to the newly active autonomous device.

56. The method according to claim 54 or 55, wherein the method comprises: receiving, by the wireless area controller from the autonomous device, one or more characteristics of the autonomous device comprising at least a device identifier the autonomous device; registering, in response to receiving the one or more characteristics, the autonomous device by the wireless area controller; and transmitting, from the wireless area controller to the autonomous device, a registration acknowledgement and a predefined area identifier to the newly active autonomous device.

57. The method according to claim 56, wherein the one or more characteristics further comprise any combination of type of device, size, material, shape, computational capability, and motion priority support.

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