  The 5G mobile networks extend the capability for supporting collaborative
robot operations in outdoor scenarios. However, the restricted battery life of
robots still poses a major obstacle to their effective implementation and
utilization in real scenarios. One of the most challenging situations is the
execution of mission-critical tasks that require the use of various onboard
sensors to perform simultaneous localization and mapping (SLAM) of unexplored
environments. Given the time-sensitive nature of these tasks, completing them
in the shortest possible time is of the highest importance. In this paper, we
analyze the benefits of 5G-enabled collaborative robots by enhancing the
intelligence of the robot operation through joint orchestration of Robot
Operating System (ROS) and 5G resources for energysaving goals, addressing the
problem from both offline and online manners. We propose OROS, a novel
orchestration approach that minimizes mission-critical task completion times as
well as overall energy consumption of 5G-connected robots by jointly optimizing
robotic navigation and sensing together with infrastructure resources. We
validate our 5G-enabled collaborative framework by means of Matlab/Simulink,
ROS software and Gazebo simulator. Our results show an improvement between
3.65% and 11.98% in exploration task by exploiting 5G orchestration features
for battery savings when using 3 robots.
