RT Journal Article
T1 Goodness of Fit in the Marginal Modeling of Round-Trip Times for Networked Robot Sensor Transmissions.
A1 Fernández-Madrigal, Juan-Antonio
A1 Arévalo-Espejo, Vicente Manuel
A1 Cruz-Martín, Ana María
A1 Galindo-Andrades, Cipriano
A1 Bañuls-Arias, Adrián
A1 Gandarias Palacios, Juan Manuel
K1 Robots autónomos
K1 Arquitectura dirigida por modelos
K1 Ingeniería del software
AB When complex computations cannot be performed on board a mobile robot, sensory data must be transmitted to a remote station to be processed, and the resulting actions must be sent back to the robot to execute, forming a repeating cycle. This involves stochastic round-trip times in the case of non-deterministic network communications and/or non-hard real-time software. Since robots need to react within strict time constraints, modeling these round-trip times becomes essential for many tasks. Modern approaches for modeling sequences of data are mostly based on time-series forecasting techniques, which impose a computational cost that may be prohibitive for real-time operation, do not consider all the delay sources existing in the sw/hw system, or do not work fully online, i.e., within the time of the current round-trip. Marginal probabilistic models, on the other hand, often have a lower cost, since they discard temporal dependencies between successive measurements of round-trip times, a suitable approximation when regime changes are properly handled given the typically stationary nature of these round-trip times. In this paper we focus on the hypothesis tests needed for marginal modeling of the round-trip times in remotely operated robotic systems with the presence of abrupt changes in regimes. We analyze in depth three common models, namely Log-logistic, Log-normal, and Exponential, and propose some modifications of parameter estimators for them and new thresholds for well-known goodness-of-fit tests, which are aimed at the particularities of our setting. We then evaluate our proposal on a dataset gathered from a variety of networked robot scenarios, both real and simulated; through >2100 h of high-performance computer processing, we assess the statistical robustness and practical suitability of these methods for these kinds of robotic applications.
PB MDPI
YR 2025
FD 2025-09-02
LK https://hdl.handle.net/10630/39737
UL https://hdl.handle.net/10630/39737
LA eng
NO Fernández-Madrigal, J.-A., Arévalo-Espejo, V., Cruz-Martín, A., Galindo-Andrades, C., Bañuls-Arias, A., & Gandarias-Palacios, J.-M. (2025). Goodness of Fit in the Marginal Modeling of Round-Trip Times for Networked Robot Sensor Transmissions. Sensors, 25(17), 5413. https://doi.org/10.3390/s25175413
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 23 ene 2026