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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2021/6631111/figures/6631111.fig.0012a.svgz" name="6631111.fig.0012a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Results of local native</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2021/6631111/figures/6631111.fig.0012b.svgz" name="6631111.fig.0012b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Results of Cloudroid</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2021/6631111/figures/6631111.fig.0012c.svgz" name="6631111.fig.0012c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Results of Rapyuta</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2021/6631111/figures/6631111.fig.0012d.svgz" name="6631111.fig.0012d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Results of Cloudroid Swarm</td></tr></table>

<div>Result of the evaluation of Collvoid: (a–d) show the motion trajectories of the four robots with the Local Native, Cloudroid, Rapyuta, and Cloudroid Swarm setups, respectively.</div>

Wireless Communications and Mobile Computing

fig12

Figure 12

Figure 12: Cloudroid Swarm: A QoS-Aware Framework for Multirobot Cooperation Offloading 