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

Figure 7

Communication performance in each of the scenes.

(a) Bandwidth usage of data links

(b) Metrics of the condense map message. The message count is represented by the black line, whereas the latency (including the median and variance in each scene) is shown in the form of bars (lower or narrower is more favorable)