A Hierarchical Auction-Based Mechanism for Real-Time Resource Allocation in Cloud Robotic Systems

Area of Science:

• Robotics
• Computer Science
• Network Engineering

Background:

• Cloud computing offers on-demand resource sharing but faces challenges in cloud robotic systems due to limited bandwidth and dynamic ad hoc network structures.
• Multirobotic systems with cooperative control often use decentralized approaches to prevent single points of failure, requiring continuous data updates for coordinated tasks.
• Real-time coordination in resource-constrained environments necessitates efficient resource allocation strategies.

Purpose of the Study:

• To propose a novel hierarchical auction-based mechanism for resource allocation in cloud robotic systems operating in ad hoc networks.
• To address the unique constraints of ad hoc networks, including limited bandwidth and dynamic structures, for effective multirobot coordination.
• To develop a resource allocation strategy that meets the real-time requirements of physical multirobot systems.

Main Methods:

• Introduction of a link quality indicator within a hierarchical auction-based framework, termed the link quality matrix (LQM) auction.
• Development of a fast, robust, accurate, and scalable algorithm designed for firm real-time resource retrieval.
• Reduction of global communication overhead and elimination of unnecessary repeated computations.

Main Results:

• Empirical validation of the LQM auction using a joint surveillance scenario with practical performance metrics.
• Demonstration that the proposed LQM auction significantly outperforms state-of-the-art algorithms in resource allocation for multirobot systems.
• Evidence of reduced communication and computation compared to existing methods.

Conclusions:

• The LQM auction is a highly effective and suitable mechanism for resource allocation in multirobot systems within ad hoc networks.
• The proposed method provides a scalable and robust solution for real-time resource retrieval, enhancing cooperative control.
• The LQM auction represents a significant advancement in optimizing resource management for decentralized robotic applications.