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

Table 1

Nomenclature.

	Number of robots
	Number of frame types
	Size of contention window
	Accessing probability of ^th frame type in robot
	Total number of time slots in a duty-cycling
	Number of time slots allocated to ^th frame
	Arrival rate for ^th queue
	Admission rate for ^th queue
	Positive weight ^th queue
	Utility function for ^th queue
	Service rate for ^th queue
	Data backlog for ^th queue
	PHY transmission ratio for ^th robot
	Class factor for ^th robot
	Mathematical expectation
	Fitness function
	Normalized value of
	Binary chromosome vector
	Coding function
	Decoding function