Abstract: A method of scheduling and transmitting frames of a first data stream in a composite network is provided. The method includes: determining, for the composite network, an allocation window based on a cycle time of the first data stream; determining a number of cycles for the first data stream based on the allocation window and the cycle time of the first data stream in the composite network; determining a number of frame transmissions for each cycle of the first data stream based on a payload of the first data stream and a maximum transmission unit of the composite network; scheduling the frame transmissions for each cycle of the first data stream sequentially on each link along the route and within the allocation window; and for each link, allocating a time-sensitive network slot or a wireless 5G window for each frame transmission based on a type of the link.

Abstract: A method for controlling the position of an updating agent in a decentralised multi-agent system, the method comprising: identifying a first neighbouring agent within a communicative range of the updating agent; estimating a first distance to the first neighbouring agent and a first direction to the first neighbouring agent; determining a movement direction based on the first direction to the first neighbouring agent; and determining a movement magnitude based on an activation function, the first distance to the first neighbouring agent, and a desired reference distance. The activation function is configured such that the greater the difference between the first distance to the neighbouring agent and the desired reference difference, the larger the movement magnitude. The method further comprises moving the updating agent based on the movement direction and the movement magnitude.

Abstract: A computer-implemented method for storing data using a distributed ledger maintained across a network of computer nodes having a mesh-based architecture, the method comprising: receiving, at a first node in a network, data output by one or more data sources; updating the distributed ledger with a record of the received data, wherein the distributed ledger is implemented in the form of a distributed acyclic graph (DAG) and updating the ledger comprises adding a transaction to the DAG; and communicating the transaction to the other nodes in the network, using the mesh-based architecture.

Abstract: A method of synchronizing clocks of a secondary node and primary node, the method comprising: the primary node transmitting a first message and an indication of that message’s transmission time to the secondary node; the secondary node transmitting a second message to the primary node; the primary node transmitting a third message and an indication of that message’s transmission time to the secondary node; the secondary node calculating a rate of its clock relative to the clock of the primary node using a ratio of times between the transmission and reception times of the first and third messages; and the secondary node calculating a time offset of its clock relative to the clock of the primary node using the calculated rate, a propagation delay and one of the indications of the transmission times of the first or third message.

Abstract: A method for optimizing coverage of a wireless network of a plurality of mobile robots in an environment in which each robot includes an optical sensor module, a microprocessor, and a wireless communication module. The method includes: receiving, by a first robot in the network, signals from a second robot in the network; determining, by the first robot based on the signals, that the first robot or second robot do not fulfil a network coverage condition; selecting, by the first robot, at least two landmarks in the environment; and performing, by the first robot, a movement based on an angle between the two landmarks with respect to the first robot, to improve the network coverage condition.

Abstract: A method for scheduling transmissions between a controller node, one or more, and one or more uplink nodes comprising: defining one or more non-overlapping downlink and uplink timeslots within a maximum cycle time period; scheduling each of the downlink nodes to listen to receive a respective downlink transmission from a one or multiple radios of the controller node in one of the downlink timeslots on one of a plurality of channels such that none of the downlink transmissions conflict with each other; and scheduling each of the uplink nodes to transmit a respective uplink transmission to a controller radio in one of the uplink timeslots on one of the channels such that none of the uplink transmissions conflict with each other.

Abstract: In general terms, network resource allocation takes place within a wireless communication channel in which resource is defined with respect to time and frequency; a resource allocation process involves joint allocation of resource for communication to and from group of devices, to enable a cyclic exchange of information between the devices and a base-station and thus to enable wireless closed loop control of the device. By jointly allocating resources in one go, overheads are reduced thereby providing a more efficient resource allocation mechanism. Furthermore, bundled transmissions are scheduled, including repetitions of transmissions to increase the likelihood of transmission success. By determining a minimum bundle length required to meet a predefined threshold for received signal quality, the reliability of the transmissions can be ensured.

Abstract: A method performed in a system comprising a plurality of autonomous vehicles. The method comprises a first vehicle transmitting a geometric configuration information to be adopted by one or more other vehicles participating in a transport operation in combination with the first vehicle, wherein the geometric configuration information comprises information regarding respective distances and orientations the one or more other vehicles are required to adopt relative to the first vehicle, a second vehicle, upon receipt of the geometric configuration information, adopting a position relative to the first vehicle or to a further vehicle participating in the transport operation, the position of the second vehicle defined by the geometric configuration information and the first and second vehicles performing a transport operation in a synchronised manner once the second vehicle has adopted said position.

Abstract: A method of scheduling and transmitting frames of a first data stream in a composite network is provided. The composite network comprises a plurality of nodes, the nodes comprising at least one time-sensitive network (TSN) comprising at least one time-sensitive network (TSN) bridge, and at least one wireless 5G network comprising an air interface and a core network, the first data stream associated with a route from a first node of the plurality of nodes to a second node of the plurality of nodes, the route comprising at least one link, the link being either a wireless 5G link or a TSN link.

Abstract: Arrangements described herein allow integration of TSN and wireless systems (e.g. 5G systems) by forming a virtual bridge over the wireless system. A two-level scheduling scheme is provided, where data is mapped into separate virtual queues based on the respective priority of the data. Each virtual queue is given a permission to allocate transmission resources (e.g. timeslots) at certain windows in accordance with a schedule. During each window, transmission resources are then allocated for the respective queue from a set of transmission resources. By applying two levels of scheduling (scheduling when to schedule), different scheduling rules can be applied for different priority data (different virtual queues). In addition, higher priority data can be scheduled with a higher priority (e.g. before the scheduling of lower priority data). This allows minimum performance criteria for certain types of data (certain Quality of Service data flows) to be guaranteed across the wireless system.

Abstract: A method for controlling the position of an updating agent in a decentralised multi-agent system, the method comprising: identifying a first neighbouring agent within a communicative range of the updating agent; estimating a first distance to the first neighbouring agent and a first direction to the first neighbouring agent; determining a movement direction based on the first direction to the first neighbouring agent; and determining a movement magnitude based on an activation function, the first distance to the first neighbouring agent, and a desired reference distance. The activation function is configured such that the greater the difference between the first distance to the neighbouring agent and the desired reference difference, the larger the movement magnitude. The method further comprises moving the updating agent based on the movement direction and the movement magnitude.

Abstract: A method for optimizing coverage of a wireless network of a plurality of mobile robots in an environment in which each robot includes an optical sensor module, a microprocessor, and a wireless communication module.

Abstract: In a hybrid network comprising both guided and wireless communications technologies, a grandmaster clock is designated in one portion of the network and can be propagated across to the other portion by means of a timing synchronization message. This message may include timestamping information and other information to enable recipient devices to correctly synchronize to the grandmaster clock.

Abstract: A method for operating a real-time control system comprising a first system configured to generate an information signal and a second system configured to use the information signal, wherein the second system comprises a first buffer for storing a previously received information signal. The method comprising: transmitting, by the first system, a first communication packet comprising the first information signal and generating, by the second system, a predicted first information signal for use in the first time slot. The predicted first information signal being generated by: retrieving the previously received information signal from the first buffer; generating a first prediction using a short-term predictor; and concurrently generating a second prediction using a long-term predictor; and setting the predicted first information signal equal to the first prediction unless the second prediction is available.

Abstract: A method for transporting time synchronization information in a wireless network comprising a first wireless node and a second wireless node. The method comprising: transmitting, by the first wireless node, a first message at a first time, the first message comprising a first timestamp; receiving, by the second wireless node, the first message at a second time; transmitting, by the second wireless node, a second message at a third time in response to receiving the first message, the second message comprising a second timestamp. The method further comprising transmitting, by the first wireless node, a third message; receiving by the second wireless node, the third message; and generating a timing correction value based, in part, on the contents of the first message, the second message and the third message.

Abstract: A method for transporting time synchronization information in a wireless network comprising a first wireless node and a second wireless node. The method comprising: transmitting, by the first wireless node, a first message at a first time, the first message comprising a first timestamp; receiving, by the second wireless node, the first message at a second time; transmitting, by the second wireless node, a second message at a third time in response to receiving the first message, the second message comprising a second timestamp. The method further comprising transmitting, by the first wireless node, a third message; receiving by the second wireless node, the third message; and generating a timing correction value based, in part, on the contents of the first message, the second message and the third message.

Abstract: A method of scheduling and transmitting a wireless transmission over an air-interface in a composite network is provided. The composite network comprises a time-sensitive network comprising at least one time-sensitive network entity and a wireless network comprising at least one base station and the air-interface, wherein the air-interface comprises a plurality of slots, wherein each slot has a primary control channel defined at the beginning of the slot, and a number of secondary control channels defined in each slot after the primary control channel, and a plurality of data channels, each primary control channel defining a slot, each secondary channel defining a mini-slot.

Abstract: A method for operating a real-time control system comprising a first system configured to generate an information signal and a second system configured to use the information signal, wherein the second system comprises a first buffer for storing a previously received information signal. The method comprising: transmitting, by the first system, a first communication packet comprising the first information signal and generating, by the second system, a predicted first information signal for use in the first time slot. The predicted first information signal being generated by: retrieving the previously received information signal from the first buffer; generating a first prediction using a short-term predictor; and concurrently generating a second prediction using a long-term predictor; and setting the predicted first information signal equal to the first prediction unless the second prediction is available.

Abstract: Network resource allocation takes place within a wireless communication channel in which resource is defined with respect to time and frequency; a resource allocation process involves joint allocation of resource for communication to and from a controlled device, to enable a cyclic exchange of information and thus to enable wireless closed loop control of the device.

Abstract: Arrangements described herein allow integration of TSN and wireless systems (e.g. 5G systems) by forming a virtual bridge over the wireless system. A two-level scheduling scheme is provided, where data is mapped into separate virtual queues based on the respective priority of the data. Each virtual queue is given a permission to allocate transmission resources (e.g. timeslots) at certain windows in accordance with a schedule. During each window, transmission resources are then allocated for the respective queue from a set of transmission resources. By applying two levels of scheduling (scheduling when to schedule), different scheduling rules can be applied for different priority data (different virtual queues). In addition, higher priority data can be scheduled with a higher priority (e.g. before the scheduling of lower priority data). This allows minimum performance criteria for certain types of data (certain Quality of Service data flows) to be guaranteed across the wireless system.