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

Table 2

Battery configuration.

Classification	Robot number	Battery configuration
Class 1	No.01-no.10	2000 mAh/3.7 V
Class 2	No.11-no.20	1800 mAh/3.7 V
Class 3	No.21-no.30	1500 mAh/3.7 V