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