# Analysis of 5G Channel Access for Collaboration with TSN Concluding at a 5G Scheduling Mechanism
## 2 Motivation  
Time-critical and reliable communication is a great issue in many application scenarios, both in principle, and in terms of scalable solutions that work with an increasing numberof use cases running in parallel on the same infrastructure. This is especially true where a collective of machines act in a closed control loop without humans, which is very much the case in industrial and upcoming novel applications. Much ongoing research in the field of 5G, 6G, and future industries has been motivated by the possibilities made available by autonomous robots of various kinds. A factory in a future scenario with Automated Guided Vehicles (AGVs), such as with drones or driving robots, was established in [3]. The manuscript focused on proposing a mechanism to increase the flexibility of the scenario. Part of the necessity for this re-deployment mechanism is the need for low communication delays and low jitter. In [4], a time-variant setup in agriculture was demonstrated by picturing the possibility of having many tasks in food cultivation being taken over by autonomous vehicles such as tractors. In the field, drones can provide monitoring, measurements, or even radio coverage, while sowing and harvesting equipment autonomously drives to and from the field and performs the operations there. Many devices have operations that are dependent on the activities of others. Unmanned Aerial Vehicles (UAVs) can be considered to be moving robots with extended range, mobility, flexibility, and dimensional freedom. Hence, most demands derived from any robotic control apply to drones as well, though in differing numbers, depending on the concrete usage. Due to their increased degree of freedom, UAVs can be utilized to realize unique applications. For example, as outlined in [5], they can be used as aerial base stations to complement existing cellular systems or to set up full infrastructures. This can be used, e.g., in emergency and public safety situations. On the other hand, connecting UAVs as mobile terminals into a network renders applications such as video surveillance or item delivery possible. For realization, numerous technical challenges arise; for instance, radio signal air coverage, channel modeling, and safety concerns. Again, the quality and reliability of communication links are directly correlated with the possible performance and increased relevance of the hazard assessment of flying robots. A very AGV-heavy application was introduced in [6]. A swarm of robots collaboratively located a signal source via an emergent intelligence (EI) algorithm, which is fully distributed, whereas the robots acted independently apart from communicating to send status updates. The background of that work was to find new measures to reduce extensive communication costs. The authors demonstrated that insufficient QoS harms the algorithm's behavior. Automated intralogistic systems have been on the rise for years, and are indispensable for any kind of efficient handling of large quantities of goods. Automated systems have high demands on QoS for a communication system. They have to combine dynamically incoming tasks, changing transportation routes, and the AGVs that execute the transportation. The authors in [7] proposed a mission control tool for automated task management, resource allocation, and fleet navigation. They carried out an evaluation using a scalable Key Performance Indicator (KPI) function, suggesting that the overall system performance becomes capped if no QoS assurance measurements are taken to ensure message exchange between the system elements. Increasingly complex systems are constantly being developed and improved, such as in [8, 9]. Transportation task scheduling to generate a deterministic outcome and robotic fleet coordination can both intensively benefit from integration with TSN alongside wireless communication.