相关论文: FogROS2-Config: Optimizing Latency and Cost for Mu…

Fog computing is a promising paradigm for real-time and mission-critical Internet of Things (IoT) applications. Regarding the high distribution, heterogeneity, and limitation of fog resources, applications should be placed in a distributed…

Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with…

The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…

Current virtual reality (VR) headsets encounter a trade-off between high processing power and affordability. Consequently, offloading 3D rendering to remote servers helps reduce costs, battery usage, and headset weight. Maintaining network…

Many robotic applications that are critical for robot performance require immediate feedback, hence execution time is a critical concern. Furthermore, it is common that robots come with a fixed quantity of hardware resources; if an…

The exponential growth of devices and data at the edges of the Internet is rising scalability and privacy concerns on approaches based exclusively on remote cloud platforms. Data gravity, a fundamental concept in Fog Computing, points…

Multi-cloud systems facilitate a cost-efficient and geographically-distributed deployment of microservice-based applications by temporary leasing virtual nodes with diverse pricing models. To preserve the cost-efficiency of multi-cloud…

Modern Internet services are increasingly leveraging on cloud computing for flexible, elastic and on-demand provision. Typically, Quality of Service (QoS) of cloud-based services can be tuned using different underlying cloud configurations…

Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…

Task offloading is a promising technology to exploit the benefits of fog computing. An effective task offloading strategy is needed to utilize the computational resources efficiently. In this paper, we endeavor to seek an online task…

Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…

This paper investigates a three-layer IoT-fog-cloud computing system to determine the optimum workload and power allocation at each layer. The objective is to minimize maximum per-layer latency (including both data processing and…

The design of mobile autonomous robots is challenging due to the limited on-board resources such as processing power and energy. A promising approach is to generate intelligent schedules that reduce the resource consumption while…

Deploying heterogeneous multi-agent robot fleets for collaborative perception requires robust data exchange and scalable software architectures. However, standard ROS 2 implementations often suffer from network saturation, namespace…

In IoT data processing, cloud computing alone does not suffice due to latency constraints, bandwidth limitations, and privacy concerns. By introducing intermediary nodes closer to the edge of the network that offer compute services in…

Fog computing extends cloud computing technology to the edge of the infrastructure to let IoT applications access objects' data with reduced latency, location awareness and dynamic computation. By displacing workloads from the central cloud…

With the wide penetration of smart robots in multifarious fields, Simultaneous Localization and Mapping (SLAM) technique in robotics has attracted growing attention in the community. Yet collaborating SLAM over multiple robots still remains…

This work evaluates three Fog Computing dataplacement algorithms via experiments carried out with theiFogSim simulator. The paper describes the three algorithms(Cloud-only, Mapping, Edge-ward) in the context of an Internetof Things…

Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…

Emerging edge applications require both a fast response latency and complex processing. This is infeasible without expensive hardware that can process complex operations -- such as object detection -- within a short time. Many approach this…