{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,7]],"date-time":"2026-03-07T17:43:55Z","timestamp":1772905435019,"version":"3.50.1"},"reference-count":36,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,6,21]],"date-time":"2021-06-21T00:00:00Z","timestamp":1624233600000},"content-version":"vor","delay-in-days":171,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Science and Technology Innovation 2030","award":["2020AAA0104803"],"award-info":[{"award-number":["2020AAA0104803"]}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Wireless Communications and Mobile Computing"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>Computation offloading has been widely recognized as an effective way to promote the capabilities of resource\u2010constrained mobile devices. Recent years have seen a renewal of the importance of this technology in the emerging field of mobile robots, supporting resource\u2010intensive robot applications. However, cooperating to solve complex tasks in the physical world, which is a significant feature of a robot swarm compared to traditional mobile computing devices, has not received in\u2010depth attention in research concerned with traditional computation offloading. In this study, we propose an approach named <jats:italic>cooperation offloading<\/jats:italic>, which offloads the intensive communication among robots as well as the computation for compute\u2010intensive and data\u2010intensive tasks. We analyze the performance gain of cooperation offloading by formalizing multirobot cooperative models; in addition, we study offloading decisions. Based on this approach, we design a cloud robotic framework named <jats:italic>Cloudroid Swarm<\/jats:italic> and develop several QoS\u2010aware mechanisms to provide a general solution to cooperation offloading with QoS assurance in multirobot cooperative scenes. We implement Cloudroid Swarm to transparently migrate multirobot applications to cloud servers without any code modification. We evaluate our framework using three different multirobot cooperative applications. Our results show that Cloudroid Swarm can be applied to various robotic applications and real\u2010world environments and bring significant benefits in terms of both network optimization and task performance. Besides, our framework has good scalability and can do support as many as 256 robot entities simultaneously.<\/jats:p>","DOI":"10.1155\/2021\/6631111","type":"journal-article","created":{"date-parts":[[2021,6,21]],"date-time":"2021-06-21T16:50:11Z","timestamp":1624294211000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Cloudroid Swarm: A QoS\u2010Aware Framework for Multirobot Cooperation Offloading"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1385-0074","authenticated-orcid":false,"given":"Yuanzhao","family":"Zhai","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1236-8318","authenticated-orcid":false,"given":"Bo","family":"Ding","sequence":"additional","affiliation":[]},{"given":"Pengfei","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Jie","family":"Luo","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2021,6,21]]},"reference":[{"key":"e_1_2_12_1_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11277-017-4757-3"},{"key":"e_1_2_12_2_2","doi-asserted-by":"crossref","unstructured":"DingB. XuJ. WangH. ZhangH. LiuH. andFengD. Invited paper: distributed computing in cyber-physical intelligence: robotic perception as an example IEEE International Conference on Service-Oriented System Engineering (SOSE) 2019 San Francisco CA USA 1\u201317.","DOI":"10.1109\/SOSE.2019.00012"},{"key":"e_1_2_12_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2408456"},{"key":"e_1_2_12_4_2","doi-asserted-by":"crossref","unstructured":"TanwaniA. K. MorN. KubiatowiczJ. GonzalezJ. E. andGoldbergK. A fog robotics approach to deep robot learning: application to object recognition and grasp planning in surface decluttering International Conference on Robotics and Automation (ICRA) 2019 Montreal QC Canada 4559\u20134566.","DOI":"10.1109\/ICRA.2019.8793690"},{"key":"e_1_2_12_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-017-9380-5"},{"key":"e_1_2_12_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2019.2901761"},{"key":"e_1_2_12_7_2","doi-asserted-by":"crossref","unstructured":"ZhaiY. DingB. ZhangP. LuoJ. WuQ. ShiP. andWangH. Cooperative offloading for multiple robot applications IEEE International Conference on Joint Cloud Computing 2020 Oxford UK 63\u201370.","DOI":"10.1109\/JCC49151.2020.00019"},{"key":"e_1_2_12_8_2","doi-asserted-by":"publisher","DOI":"10.1002\/wcm.1203"},{"key":"e_1_2_12_9_2","doi-asserted-by":"publisher","DOI":"10.1002\/ett.3169"},{"key":"e_1_2_12_10_2","doi-asserted-by":"crossref","unstructured":"ChenY. DuZ. andGarc\u00eda-AcostaM. Robot as a service in cloud computing Fifth IEEE International Symposium on Service Oriented System Engineering 2010 Nanjing China 151\u2013158.","DOI":"10.1109\/SOSE.2010.44"},{"key":"e_1_2_12_11_2","doi-asserted-by":"crossref","unstructured":"ArumugamR. EntiV. R. BingbingL. XiaojunW. BaskaranK. KongF. F. KumarA. S. MengK. D. andKitG. W. DAvinCi: a cloud computing framework for service robots IEEE international conference on robotics and automation 2010 Anchorage AK USA 3084\u20133089.","DOI":"10.1109\/ROBOT.2010.5509469"},{"key":"e_1_2_12_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/tase.2014.2329556"},{"key":"e_1_2_12_13_2","doi-asserted-by":"crossref","unstructured":"HuB. WangH. ZhangP. DingB. andCheH. Cloudroid: a cloud framework for transparent and QoS-aware robotic computation outsourcing IEEE 10th International Conference on Cloud Computing (CLOUD) 2017 Honololu HI USA 114\u2013121.","DOI":"10.1109\/CLOUD.2017.23"},{"key":"e_1_2_12_14_2","doi-asserted-by":"crossref","unstructured":"YuH. WangQ. andGuoS. Energy-efficient task offloading and resource scheduling for mobile edge computing 2018 IEEE International Conference on Networking Architecture and Storage (NAS) 2018 Chongqing China 1\u20134.","DOI":"10.1109\/NAS.2018.8515731"},{"key":"e_1_2_12_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TWC.2018.2821664"},{"key":"e_1_2_12_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/TPDS.2014.2316834"},{"key":"e_1_2_12_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNET.2020.2983119"},{"key":"e_1_2_12_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2019.2904897"},{"key":"e_1_2_12_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2020.2996784"},{"key":"e_1_2_12_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCOMM.2018.2866572"},{"key":"e_1_2_12_21_2","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/3816237"},{"key":"e_1_2_12_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.806024"},{"key":"e_1_2_12_23_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-45058-0_17"},{"key":"e_1_2_12_24_2","doi-asserted-by":"crossref","unstructured":"DoriyaR. MishraS. andGuptaS. A brief survey and analysis of multi-robot communication and coordination International Conference on Computing Communication & Automation 2015 Greater Noida India 1014\u20131021.","DOI":"10.1109\/CCAA.2015.7148524"},{"key":"e_1_2_12_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2852295"},{"key":"e_1_2_12_26_2","doi-asserted-by":"crossref","unstructured":"LazaroM. T. PazL. M. PiniesP. CastellanosJ. A. andGrisettiG. Multi-robot slam using condensed measurements IEEE\/RSJ International Conference on Intelligent Robots and Systems 2013 Tokyo Japan 1069\u20131076.","DOI":"10.1109\/IROS.2013.6696483"},{"key":"e_1_2_12_27_2","doi-asserted-by":"crossref","unstructured":"SturmJ. EngelhardN. EndresF. BurgardW. andCremersD. A benchmark for the evaluation of RGB-D SLAM systems IEEE\/RSJ International Conference on Intelligent Robots and Systems 2012 Vilamoura-Algarve Portugal.","DOI":"10.1109\/IROS.2012.6385773"},{"key":"e_1_2_12_28_2","doi-asserted-by":"crossref","unstructured":"AndreT. NeuholdD. andBettstetterC. Coordinated multi-robot exploration: out of the box packages for ROS Globecom Workshops (GC Wkshps) 2014 Austin TX USA.","DOI":"10.1109\/GLOCOMW.2014.7063639"},{"key":"e_1_2_12_29_2","doi-asserted-by":"crossref","unstructured":"ClaesD. HennesD. TuylsK. andMeeussenW. Collision avoidance under bounded localization uncertainty IEEE\/RSJ International Conference on Intelligent Robots and Systems 2012 Vilamoura-Algarve Portugal 1192\u20131198.","DOI":"10.1109\/IROS.2012.6386125"},{"key":"e_1_2_12_30_2","doi-asserted-by":"crossref","unstructured":"Van den BergJ. LinM. andManochaD. Reciprocal velocity obstacles for real-time multi-agent navigation 2008 IEEE International Conference on Robotics and Automation 2008 Pasadena CA USA 1928\u20131935.","DOI":"10.1109\/ROBOT.2008.4543489"},{"key":"e_1_2_12_31_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2463671"},{"key":"e_1_2_12_32_2","doi-asserted-by":"crossref","unstructured":"ZhangP. WangH. DingB. andShangS. Cloud-based framework for scalable and real-time multi-robot slam 2018 IEEE International Conference on Web Services (ICWS) 2018 San Francisco CA USA 147\u2013154.","DOI":"10.1109\/ICWS.2018.00026"},{"key":"e_1_2_12_33_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.future.2012.08.003"},{"key":"e_1_2_12_34_2","doi-asserted-by":"publisher","DOI":"10.1109\/jiot.2020.3033521"},{"key":"e_1_2_12_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2017.1700120"},{"key":"e_1_2_12_36_2","doi-asserted-by":"crossref","unstructured":"LoghinD. RamapantuluL. andTeoY. M. Towards analyzing the performance of hybrid edge-cloud processing 2019 IEEE International Conference on Edge Computing (EDGE) 2019 Milan Italy 87\u201394.","DOI":"10.1109\/EDGE.2019.00029"}],"container-title":["Wireless Communications and Mobile Computing"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/wcmc\/2021\/6631111.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/wcmc\/2021\/6631111.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2021\/6631111","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,7]],"date-time":"2024-08-07T12:02:45Z","timestamp":1723032165000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2021\/6631111"}},"subtitle":[],"editor":[{"given":"Paul","family":"Honeine","sequence":"additional","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2021,1]]},"references-count":36,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["10.1155\/2021\/6631111"],"URL":"https:\/\/doi.org\/10.1155\/2021\/6631111","archive":["Portico"],"relation":{},"ISSN":["1530-8669","1530-8677"],"issn-type":[{"value":"1530-8669","type":"print"},{"value":"1530-8677","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,1]]},"assertion":[{"value":"2020-12-07","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-05-17","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-06-21","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"6631111"}}