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.0013a.svgz" name="6631111.fig.0013a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Average FPS</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2021/6631111/figures/6631111.fig.0013b.svgz" name="6631111.fig.0013b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Data transmission rate (Mbps) in the cloud side</td></tr></table>

<div>The scalability metrics in different configurations.</div>

Wireless Communications and Mobile Computing

fig13

Figure 13

Figure 13: Cloudroid Swarm: A QoS-Aware Framework for Multirobot Cooperation Offloading 