## 4 Impact of Network Latency on Teleoperation
### Network Delay Impact on Various Teleoperation Domains  
Teleoperation is generally used as a fallback solution to maintain the safety of a vehicle in cases of failure scenarios such as malfunction, challenging weather, confusing situations, collision, or other such situations [93]. Other use cases of teleoperation include places where it is dangerous or difficult for humans to reach, such as telerobotics for space and underwater exploration, satellite communications, use of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) for reconnaissance missions, search and rescue, or surveillance in military/defensive applications, and also for telesurgery in medical domains [40]. The impact of network latency and requirements across various domains are detailed in Table 3.  
\begin{table}
\begin{tabular}{p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt}} \hline
**Teleoperation Domain** & **Applications** & **Impact Latency** & **of Teleoperated System** & **Wireless Technology** & **Latency Thresholds** & **Other Requirements** \\ \hline Telesurgery (Medical) [61, 94, 95] & Robotic colorectal surgery, neurosurgery, spinal surgery, telestening, laparoscopic surgery & Degradation in teleoperation performance leading to increased temporary surgery & Degradation in teleoperation arm robot, robotic surgical surgical system, UAV & Single-/dual-arm robot, WiFi & 16–172 ms; economical Internet, and <200 ms, acceptable <330-370 ms & Data rate: 6 Mbps; distance (remote station to vehicle): 103 miles, 2848 km, 4500–8500 km. \\ \hline \hline \end{tabular}
\end{table}
Table 3: Impact of network latency on teleoperation across domains.  
\begin{table}
\begin{tabular}{p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt}} \hline
**Teleoperation Domain** & **Applications** & **Impact Latency** & **of Teleoperated System** & **Wireless Technology** & **Latency Thresholds** & **Other Requirements** \\ \hline  & & & & & & Data rate: 50 Mbps, 50 Mbps, 60-100 kps, visual: 4 Mbps; bandwidth: 25 MHz; 25  
Several studies have explored teleoperation as a critical use case within their respective domains. Although teleoperation is used in different critical applications, most studies employ robots as their teleoperation system. Some use mobile robots, while others require single- or dual-arm manipulator robots (such as telesurgery). Nevertheless, a consistent finding across these studies is the detrimental impact of latency on teleoperation performance and operational safety, ranging from compromised mission effectiveness to increased mortality risks in critical applications such as telesurgery. It is universally acknowledged that having lower latency is the best case for effective operation. The minimum acceptable latency threshold is shown to be influenced by factors such as required data rates, teleoperation distance, and, most importantly, the choice of wireless technologies.  
Even within domains seemingly disparate from traditional teleoperation, such as gaming, parallels can be drawn with teleoperation regarding identical setups and the importance of responsive interactions from the operators. Thus, while the specifics and unique demands may vary across domains, the overarching concern remains the mitigation or compensation of latency to ensure optimal teleoperation performance and safety.