Cloudroid Swarm: A QoS-Aware Framework for Multirobot Cooperation Offloading

Algorithm 1

Sliding-window algorithm.

Input: Time interval between two successive detections:

 Width of sliding window:

Output: Communication rate, and latency, of the channel at time t

 initialization:

1: while is not shut down do

2:  Emit a new message from the source end to the destination end

3:  for each returned at do

4:   

5:   

6:  end for

7:  for each returned at do

8:   

9:   

10:  end for

11:  

12:  

13:  

14: end while