## 4 Related Works  
This section reviews and compares related research with our contributions. In particular, we will survey and analyze efforts related to vehicle remote control as well as to 5G networks and cybersecurity architectures for smart farms. The CAN bus protocol allows communication between the electronic control units inside the vehicle and is widely researched as an embedded system to get tactical and status information from the vehicle and its surroundings. The protocol has been applied for data collection and monitoring, such as temperature acquisition for mining equipment [52] and status monitoring for off-road studies [53]. There are also research studies concentrating on steering system based headlight control using CAN [54], and utilizing the CAN protocol to obtain data from the driver for further analysis [55]. However, many of the reviewed works related to the CAN protocol concentrate on modeling and simulations and not actual integrated solutions. One of the few implementation works [56] describes a combination of real-time kinematic positioning and global navigation satellite system and the CAN bus protocol for control algorithms of the tractor. The work was concentrated on the accuracy of the automated tractor movement rather than network performance. [PERSON] et al. [57] focused on remote steering of the wheel of the tractor using the CAN bus and CANtest software. Their results showed sufficient response speed and accuracy, satisfying the requirements of an agricultural automatic navigation system. Our study proposes implementing remote control of the tractor by relaying the inv-vehicle CAN messages of the tractor between the CAN of the remote connection system through the mobile network over the IP. [PERSON] et al. [13] studied relaying ISOBUS messages and implemented over IP over CAN by implementing an IP address into a CAN identifier. [PERSON] et al. [14] proposed a similar approach to a modular lightweight IP stack for embedded platforms. A wireless solution with an IEEE 802.11b WLAN was proposed by [PERSON] et al. [15]. Similar to our approach, [PERSON] et al. [16] developed a CAN-over-IP tunneling protocol for diagnostic and monitoring purposes. Our approach utilize Cannelloni [17] gateway software to relay the selected CAN messages of two systems over an IP tunnel. The solution was implemented in the real tractor and tested in a mobile network environment. Several reviews [19; 20; 21] have identified the opportunities that mobile communication technologies, particularly 5G, promise for agriculture and SF scenarios. 5G has been proposed as a reliable, low-latency, high-capacity channel that can enable new applications, such as automated machines, real-time monitoring, virtual consultation, predictive maintenance, data analytics, and cloud repositories. Consequently, 5G will facilitate the transformation of farms to become more secure, reliable, environmentally friendly, and energy-efficient. For instance, 5G can provide communication channels for controlling and monitoring different aerial and ground vehicles [22], including unmanned tractors [58] and bulldozers [59]. Other wireless technologies--Wi-Fi, satellite, and LoRaWAN networks--have been considered alternative channels to gather, for example, sensor data, situational awareness, and tractor localization information [60]. To enable interoperability between different systems in SFs, both application [61; 62] and network layer solutions have been proposed. We focused on the connectivity between wireless networks and studied wireless backbones. These reliable mesh-based tactical network architectures have previously been used in both enterprise [63] and military [64] domains. Existing field trials and pilots have addressed, for examle, IoT and mobile technologies for SF [65], LoRaWan for IoT [66], as well as 5G for V2X communications [67]. We extend these verification efforts by trialing a unique combination of mobile, tactical, sensor, and satellite network technologies.