Cosupervised by: Xibo Li 

Abstract:

This thesis presents the design, implementation, and evaluation of a real-time video transmission system based on 5G for the teleoperation of a miniature vehicle. Utilizing Robot Operating System 2 (ROS2) as the development framework, the system was ini- tially tested under Wi-Fi and later adapted to a 5G network through the integration of Cyclone Data Distribution Service (DDS) for low-latency communication. To solve the problems of the BGR8 video format—mainly its high bit rate requirements and unstable frame rates—two video compression methods,Advanced Video Coding (H.264) and Joint Photographic Experts Group (JPEG), were implemented and evaluated.

A series of controlled experiments were conducted to assess transmission performance across various video resolutions and frame rates under both Wi-Fi and 5G networks. Performance metrics include received video frame rate, used bit rate, and end-to-end latency. Results indicate that JPEG compression provided significantly lower latency compared to H.264, while maintaining stable transmission of Full High Definition (FHD) (1920×1080p) video at 30 Frames Per Second (FPS) under 5G.

Further comparisons with Ethernet demonstrate that wired connections offer higher bit rate and lower latency, however, as we know, they are impractical for mobile platforms. Among the tested configurations, 5G with JPEG compression achieved the most effec- tive balance between video quality, latency, and transmission stability, confirming its suitability for real-time video streaming in teleoperated vehicles and robotics systems

### Objective:  

Controlling a car from a remote control center is a practical idea. There are already a few start ups to offer tele-operated driving, for example look at this [link]([https://www.startus-insights.com/innovators-guide/5-top-emerging-teleoperation-startups/](https://www.startus-insights.com/innovators-guide/5-top-emerging-teleoperation-startups/)). However, directly implement the teleoperation in normal vehicles is difficult because of the safety issue. Therefore in this Bachelor thesis we will use miniature vehicles as a validation platform. The teleopration can be achieved both ways: wifi and local 5G network. Finally, the communication performance of those two ways should be compared.  

### Requirement:  

Feel free to write Mohammad Razzaghpour (razzaghpour@ant.uni-bremen.de) and Xibo Li (lixibo@uni-bremen.de) an email if you are interested.  

### Reference for further reading:  

- Introduction to Cellular V2X, by Qualcomm  

=> [link]([https://www.qualcomm.com/content/dam/qcomm-martech/dm-assets/documents/c-v2x_intro.pdf](https://www.qualcomm.com/content/dam/qcomm-martech/dm-assets/documents/c-v2x_intro.pdf))  

- 5GAA, Tele-Operated Driving (ToD): System Requirements Analysis and Architecture => [link]([https://5gaa.org/tele-operated-driving-tod-system-requirements-analysis-and-architecture/](https://5gaa.org/tele-operated-driving-tod-system-requirements-analysis-and-architecture/))  

- 5GAA, Tele-operated Driving (ToD) – Use Cases and Technical Requirements  

=> [link]([https://5gaa.org/tele-operated-driving-tod-use-cases-and-technical-requirements/](https://5gaa.org/tele-operated-driving-tod-use-cases-and-technical-requirements/))  

- Introduction to Ros2  

=> [Link] ([https://docs.ros.org/en/foxy/index.html](https://docs.ros.org/en/foxy/index.html))