The Lyapunov Optimization for Two-Tier Hierarchical-Based MAC in Cloud Robotics

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2020/8876705/figures/8876705.fig.005a.svgz" name="8876705.fig.005a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Throughput</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2020/8876705/figures/8876705.fig.005b.svgz" name="8876705.fig.005b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Power</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2020/8876705/figures/8876705.fig.005c.svgz" name="8876705.fig.005c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Energy efficiency</td></tr></table>

<div>Dynamic performance along with arrival rate.</div>

Wireless Communications and Mobile Computing

fig5

Figure 5

Figure 5: The Lyapunov Optimization for Two-Tier Hierarchical-Based MAC in Cloud Robotics 