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

Figure 2

We illuminate a node for the navigation application on a wheeled mobile robot as an example. The nonmigratable operators, which handle the input of sensors and the control of wheels, are depicted in green. The migratable operators are depicted in yellow. When the node comes to the computation offloading case, the yellow migratable operators are transferred to the cloud and communication with the local operators by the full-duplex channel.

(a) The local native scene

(b) The computation offloading scene