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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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Future Internet |
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| 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. |
| format | Article |
| id | doaj-art-edb5d54e6e7c45709ab04fd92fbe9ff9 |
| institution | Kabale University |
| issn | 1999-5903 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Future Internet |
| 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 |