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

Algorithm 2

QoS-aware link capacity adjustment algorithm.

Input: Collection of robots using the same wireless access to offload:

   Load value of channels at every timestamp:

   Global control parameter:

Output: The offloading strategy and capacity value of channels at the next timestamp:

1: for each time interval do

2:  Choose the cooperation offloading strategy

3:  while The task is not completed do

4:    Sliding-window Algorithm

5:   if Inequality (5) is True then

6:    Choose the cooperation offloading strategy

7:   else

8:    Choose the local computing strategy

9:   end if

10:   if Cooperation Offloading then

11:    for each do

12:     

13:     

14:     

15:    end for

16:   end if

17:   

18:  end while

19: end for