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

Figure 1

Different configurations of multirobot SLAM. The SLAM task is aimed at simultaneously drawing a map of the surrounding environment and locating the poses of the robots themselves. Two phases, pose localization and mapping construction, are coupled in a typical SLAM procedure. The localization phase requires the map constructed in the previous frame for matching, and the mapping phase needs the pose information in the previous frame for accurate results.

(a) Local setup of multiple robots

(b) Multiple robots with computation offloading

(c) Multiple robots with cooperation offloading