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

Table 1

The input public data set used by each robot.

Robot index^a	Duration	Trajectory length	Laser scan inputs	Odometry inputs
1	155.72 s	40.380 m	1457	1548
2	115.63 s	21.735 m	1074	1152
3	111.91 s	18.135 m	1046	1116
4	72.75 s	16.118 m	679	723

^aThe names of corresponding data sequences are freiburg2_pioneer_slam, freiburg2_pioneer_slam2, freiburg2_pioneer_slam3, and freiburg2_pioneer_360, respectively.