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

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">MAC protocols</td><td class="align_center">Lifetime (min)</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">IEEE 802.15.4</td><td class="align_center">102</td></tr><tr><td class="align_left">FD-MAC</td><td class="align_center">96</td></tr><tr><td class="align_left">MQEB-MAC</td><td class="align_center">109</td></tr><tr><td class="align_left">Two-Tier MAC</td><td class="align_center">117</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>System lifetime in different MAC protocols.</div>

Wireless Communications and Mobile Computing

tab3

Table 3

Table 3: The Lyapunov Optimization for Two-Tier Hierarchical-Based MAC in Cloud Robotics 