Resource Assignment Algorithms for Autonomous Mobile Robots with Task Offloading

This paper deals with the optimization of the operational efficiency of a fleet of mobile robots, assigned with delivery-like missions in complex outdoor scenarios. The robots, due to limited onboard computation resources, need to offload some complex computing tasks to an edge/cloud server, requiri...

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Main Authors: Giuseppe Baruffa, Luca Rugini
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Future Internet
Subjects:
Online Access:https://www.mdpi.com/1999-5903/17/1/39
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author Giuseppe Baruffa
Luca Rugini
author_facet Giuseppe Baruffa
Luca Rugini
author_sort Giuseppe Baruffa
collection DOAJ
description This paper deals with the optimization of the operational efficiency of a fleet of mobile robots, assigned with delivery-like missions in complex outdoor scenarios. The robots, due to limited onboard computation resources, need to offload some complex computing tasks to an edge/cloud server, requiring artificial intelligence and high computation loads. The mobile robots also need reliable and efficient radio communication with the network hosting edge/cloud servers. The resource assignment aims at minimizing the total latency and delay caused by the use of radio links and computation nodes. This minimization is a nonlinear integer programming problem, with high complexity. In this paper, we present reduced-complexity algorithms that allow to jointly optimize the available radio and computation resources. The original problem is reformulated and simplified, so that it can be solved by also selfish and greedy algorithms. For comparison purposes, a genetic algorithm (GA) is used as the baseline for the proposed optimization techniques. Simulation results in several scenarios show that the proposed sequential minimization (SM) algorithm achieves an almost optimal solution with significantly reduced complexity with respect to GA.
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institution Kabale University
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spelling doaj-art-edb5d54e6e7c45709ab04fd92fbe9ff92025-01-24T13:33:38ZengMDPI AGFuture Internet1999-59032025-01-011713910.3390/fi17010039Resource Assignment Algorithms for Autonomous Mobile Robots with Task OffloadingGiuseppe Baruffa0Luca Rugini1Department of Engineering, University of Perugia, I-06125 Perugia, ItalyDepartment of Engineering, University of Perugia, I-06125 Perugia, ItalyThis paper deals with the optimization of the operational efficiency of a fleet of mobile robots, assigned with delivery-like missions in complex outdoor scenarios. The robots, due to limited onboard computation resources, need to offload some complex computing tasks to an edge/cloud server, requiring artificial intelligence and high computation loads. The mobile robots also need reliable and efficient radio communication with the network hosting edge/cloud servers. The resource assignment aims at minimizing the total latency and delay caused by the use of radio links and computation nodes. This minimization is a nonlinear integer programming problem, with high complexity. In this paper, we present reduced-complexity algorithms that allow to jointly optimize the available radio and computation resources. The original problem is reformulated and simplified, so that it can be solved by also selfish and greedy algorithms. For comparison purposes, a genetic algorithm (GA) is used as the baseline for the proposed optimization techniques. Simulation results in several scenarios show that the proposed sequential minimization (SM) algorithm achieves an almost optimal solution with significantly reduced complexity with respect to GA.https://www.mdpi.com/1999-5903/17/1/39mobile robotsradio resource assignmenttask offloadingmetaheuristic optimizationlatency minimization
spellingShingle Giuseppe Baruffa
Luca Rugini
Resource Assignment Algorithms for Autonomous Mobile Robots with Task Offloading
Future Internet
mobile robots
radio resource assignment
task offloading
metaheuristic optimization
latency minimization
title Resource Assignment Algorithms for Autonomous Mobile Robots with Task Offloading
title_full Resource Assignment Algorithms for Autonomous Mobile Robots with Task Offloading
title_fullStr Resource Assignment Algorithms for Autonomous Mobile Robots with Task Offloading
title_full_unstemmed Resource Assignment Algorithms for Autonomous Mobile Robots with Task Offloading
title_short Resource Assignment Algorithms for Autonomous Mobile Robots with Task Offloading
title_sort resource assignment algorithms for autonomous mobile robots with task offloading
topic mobile robots
radio resource assignment
task offloading
metaheuristic optimization
latency minimization
url https://www.mdpi.com/1999-5903/17/1/39
work_keys_str_mv AT giuseppebaruffa resourceassignmentalgorithmsforautonomousmobilerobotswithtaskoffloading
AT lucarugini resourceassignmentalgorithmsforautonomousmobilerobotswithtaskoffloading