Design of a 6G Testbed Towards Cyber-Physical Convergence in Remote Driving Applications

The 6G vision aims for the convergence between the real and digital worlds, supported by unmatched performance in terms of transfer speeds, reliability, and responsiveness. Yet, advanced beyond 5G solutions can al-ready serve as a preamble for implementing this vision. To analyze its viability, robust scenario characterizations and testing methodologies are required. We present the design and implementation of a 6G-intended testbed for Remote Driving Applications, based on two key enabling tech-nologies: Immersive Communications and Cyber-Physical Twins. In particular, the Cyber-Physical Convergence is implemented by the combination of Human-Machine In-terfaces, Haptic Feedback, and Extended Reality features in immersive cockpits for a real-time case study featuring an immersive race between mobile robots, remotely driven through a 5G private network at UPV's outdoor Velodrome. We analyze the mentioned key enabling tech-nologies, compare similar 6G testbeds, define a system architecture, and finally propose a test plan to evaluate the requirements in the context of 6G communications.