QoS-Aware Cooperative Computation Offloading for Robot Swarms in Cloud Robotics

Zicong Hong, Huawei Huang, Song Guo, Wuhui Chen, Zibin Zheng

Research output: Journal article publicationJournal articleAcademic researchpeer-review

51 Citations (Scopus)


Computation offloading is a promising solution to extend the capacity of robot swarms for computation-intensive applications because it allows robot swarms to benefit from the powerful computing resources of modern data centers. However, the existing computation-offloading approaches still face challenges: 1) multi-hop cooperative computation offloading, 2) joint computation offloading and routing, and 3) task slicing. In this paper, we propose a quality of service (QoS)-aware cooperative computation-offloading scheme for robot swarms using game theory. We analyze the multi-hop cooperative communication model in robot swarms and investigate the computation offloading and routing decision-making problems with the goals of both latency minimization and energy efficiency. We formulate the joint optimization problem as a multi-hop cooperative computation-offloading game and show the existence of a Nash equilibrium (NE) of the game for both unsliceable and sliceable tasks. We further propose a QoS-aware distributed algorithm to attain an NE and provide an upper bound on the price of anarchy in the game. Finally, our simulated results show that our algorithm scales well as the swarm size increases and it has a stable performance gain in various parameter settings.

Original languageEnglish
Article number8653406
Pages (from-to)4027-4041
Number of pages15
JournalIEEE Transactions on Vehicular Technology
Issue number4
Publication statusPublished - 1 Apr 2019


  • cloud robotics
  • Computation offloading
  • game theory
  • QoS
  • robot swarms

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Applied Mathematics
  • Electrical and Electronic Engineering


Dive into the research topics of 'QoS-Aware Cooperative Computation Offloading for Robot Swarms in Cloud Robotics'. Together they form a unique fingerprint.

Cite this