Abstract

Robotic systems increasingly demand simultaneous high-precision sensing and low-latency communication—a duality that traditional disjoint architectures struggle to satisfy efficiently. Integrated Sensing and Communication (ISAC) addresses this challenge by unifying both functions within shared radio frequency and spectral resources, eliminating hardware redundancy and spectral inefficiency. This article surveys ISAC-enabled robotics, examining how joint waveform design, cross-layer protocols, and emerging technologies (mmWave, THz, in-band full-duplex transceivers) enable transformative applications. We focus on missioncritical scenarios where ISAC provides unique value: (1) factory robots achieving sub-centimeter positioning alongside millisecond-latency coordination for collision-free assembly, (2) surgical robots requiring simultaneous tissue imaging and instrument teleoperation with ultra-reliability, (3) autonomous vehicle platoons performing radar-based spacing control while exchanging cooperative maneuver plans, and (4) UAV swarms conducting distributed target tracking with bandwidth-efficient inter-agent communication. The article analyzes fundamental trade-offs in ISAC system design— sensing accuracy versus communication throughput, spectrum coexistence, RF front-end integration challenges, and security vulnerabilities arising from shared physical layers. We identify open research directions including AI-driven resource allocation, real-time co-optimization frameworks, and regulatory pathways for spectrum sharing. By consolidating sensing and communication primitives, ISAC emerges as an enabling infrastructure for autonomous robotic systems requiring tight perception-action coupling under stringent resource constraints.

ISAC-enhanced Robotic Coordination: A Tutorial on Joint Sensing-communication Co-design for Autonomous Multi-agent Systems

Robotic systems increasingly demand simultaneous high precision sensing and low-latency communication — a duality that traditional disjoint architectures struggle to satisfy efficiently. Integrated Sensing and Communication (ISAC) addresses this challenge by unifying both functions within shared radio frequency and spectral resources, eliminating hardware redundancy and spectral inefficiency.

This monograph surveys ISAC-enabled robotics, examining how joint waveform design, cross-layer protocols, and emerging technologies (mmWave, THz, in-band full-duplex transceivers) enable transformative applications. We focus on mission-critical scenarios where ISAC provides unique value: (1) factory robots achieving sub-centimeter positioning alongside millisecond-latency coordination for collision-free assembly, (2) surgical robots requiring simultaneous tissue imaging and instrument teleoperation with ultra-reliability, (3) autonomous vehicle platoons performing radar-based spacing control while exchanging cooperative maneuver plans, and (4) UAV swarms conducting distributed target tracking with bandwidth-efficient inter-agent communication. The book analyzes fundamental trade-offs in ISAC system design — sensing accuracy versus communication throughput, spectrum coexistence, RF front-end integration challenges, and security vulnerabilities arising from shared physical layers. Open research directions including AI-driven resource allocation are identified, as well as real-time co-optimization frameworks, and regulatory pathways for spectrum sharing. By consolidating sensing and communication primitives, ISAC emerges as an enabling infrastructure for autonomous robotic systems requiring tight perception-action coupling under stringent resource constraints.