## 2 Related Works  
Telerobotics and teleoperations is a rapidly growing domain, with a growing number of worldwide installations and capability deployments. Teleoperations is also a continuing focus within the research domain and the scientific literature. For example, in [11], the capability is introduced for improved telesurgery to be implemented over the well-established and widely used Robot Operation System (ROS) [12]. The authors of [13] worked on bringing 5G together with mobile edge computing to explore whether robotic telesurgery is feasible in such an environment. The authors created tests to analyze the difference between 4G and 5G in terms of delay, jitter, and throughput. In [14], the authors used a Virtual Reality (VR) headset with controllers to control a Rethink Robotics Baxter robot. The authors used ROS for the Baxter robot. They measured latency performance and also conducted tests exploring the types of objects that the robot could successfully manipulate. A teleultrasound robot was used to conduct network latency tests under a Wireless Local Area Network (WLAN) connection and a Virtual Local Area Network (VLAN) in [15]. The authors also measured the displacement error for both WLAN and VLAN conditions. The authors of [8] created their own robotic arm and attached a video camera onto the arm to test the teleoperation latency under various communication channels. In [16], the authors determined the acceptable latency for telesurgery. They tested 34 subjects, each of whom had a different level of surgical expertise. The paper concluded that the acceptable delay for telesurgery needs to be below 100 ms. The authors of [17] used a Phantom Omni Haptic device and a SimMechanics model to mimic an industrial robot arm. These experiments were conducted over various connections between Australia and Scotland, including segments utilizing 4G mobile networks. In [18], a telesurgery system with image compression adapting to the available bandwidth was tested between Beijing and Sanya. In that study, non-invasive surgical operations on animals were conducted, with the measured latency ranging from 170 ms to 320 ms. They determined that reducing image quality can help reduce and control latency for telesurgery, but 320 ms latency was the upper limit of latency for safe surgery. The authors of [19] used a primary-secondary configuration of 2 cobots called \"Franka Research 3\", each using the ROS operating system. The authors explored the boundaries of achievable Wi-Fi performance for telerobotics, and also explored the capabilities within ROS for such tasks. In remote driving, 300 ms latency was found to deteriorate performance [7], whereas smaller but slightly varying latency was found to be more acceptable. The work in [20] discusses the teleoperation of automated vehicles. The authors measured the latency of the teleoperation setup and attempted to reduce the latency. The authors of [21] present the effect of delay on robots' mimicry of handwriting, with the operator's only feedback being the robot's writing. They found that users were able to adapt to any slowness of a robot's movement, but not onset latency, as the robot was writing. In [22], the authors discuss the merits of using ROS for teleoperation. The authors discuss ways to improve ROS to allow better response times and reduced latency. The tests conducted in this work helped identify areas of improvement within ROS for teleoperations. The authors of [23] discuss how 5G represents a significant potential improvement for telerobotics compared to 4G, and also illuminate the further advantages that may be brought about by 6G, including considerable reductions in latency compared to previous generations of cellular networks. The work in [24] explores Virtual Reality (VR) for teleoperations. The focus of this work is on improving the visual quality of VR and mitigating the risk of motion sickness resulting from VR usage. The authors also measure the visual latency and display-to-display latency.