{"id":"https://openalex.org/W4413925168","doi":"https://doi.org/10.1109/icra55743.2025.11127588","title":"FogROS2-PLR: Probabilistic Latency-Reliability for Cloud Robotics","display_name":"FogROS2-PLR: Probabilistic Latency-Reliability for Cloud Robotics","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925168","doi":"https://doi.org/10.1109/icra55743.2025.11127588"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127588","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101607322","display_name":"Kaiyuan Chen","orcid":"https://orcid.org/0000-0002-8847-4870"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kaiyuan Chen","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Science,Berkeley,CA,USA"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Science,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017070450","display_name":"Nan Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nan Tian","raw_affiliation_strings":["Robert Bosch Research and Technology Center North America,Sunnyvale,CA,USA"],"affiliations":[{"raw_affiliation_string":"Robert Bosch Research and Technology Center North America,Sunnyvale,CA,USA","institution_ids":["https://openalex.org/I4210120115"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094186787","display_name":"Christian Juette","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christian Juette","raw_affiliation_strings":["Robert Bosch Research and Technology Center North America,Sunnyvale,CA,USA"],"affiliations":[{"raw_affiliation_string":"Robert Bosch Research and Technology Center North America,Sunnyvale,CA,USA","institution_ids":["https://openalex.org/I4210120115"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101769467","display_name":"Tianshuang Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianshuang Qiu","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Science,Berkeley,CA,USA"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Science,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103725392","display_name":"Liu Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liu Ren","raw_affiliation_strings":["Robert Bosch Research and Technology Center North America,Sunnyvale,CA,USA"],"affiliations":[{"raw_affiliation_string":"Robert Bosch Research and Technology Center North America,Sunnyvale,CA,USA","institution_ids":["https://openalex.org/I4210120115"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090386549","display_name":"John Kubiatowicz","orcid":"https://orcid.org/0000-0003-0558-6461"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Kubiatowicz","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Science,Berkeley,CA,USA"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Science,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Science,Berkeley,CA,USA"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Science,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101607322"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":2.3818,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.90045465,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"16290","last_page":"16297"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12423","display_name":"Software Reliability and Analysis Research","score":0.9603000283241272,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12423","display_name":"Software Reliability and Analysis Research","score":0.9603000283241272,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9388999938964844,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6958836317062378},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.6890915036201477},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6856202483177185},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.6609919667243958},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.6066513657569885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5830028057098389},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.516244649887085},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.3855944871902466},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3678112030029297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27829664945602417},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14260554313659668},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.10997459292411804},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08989357948303223}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6958836317062378},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.6890915036201477},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6856202483177185},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.6609919667243958},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.6066513657569885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5830028057098389},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.516244649887085},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.3855944871902466},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3678112030029297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27829664945602417},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14260554313659668},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.10997459292411804},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08989357948303223},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127588","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1545214685","https://openalex.org/W1997734481","https://openalex.org/W2085302753","https://openalex.org/W2114623221","https://openalex.org/W2165548425","https://openalex.org/W2755443794","https://openalex.org/W2798627392","https://openalex.org/W2807091536","https://openalex.org/W2897668762","https://openalex.org/W2901645617","https://openalex.org/W2951363627","https://openalex.org/W2968522222","https://openalex.org/W2968539525","https://openalex.org/W2969026184","https://openalex.org/W3090589941","https://openalex.org/W3098815095","https://openalex.org/W3154529571","https://openalex.org/W3202885516","https://openalex.org/W4238584892","https://openalex.org/W4249609116","https://openalex.org/W4280571816","https://openalex.org/W4312198977","https://openalex.org/W4383108367","https://openalex.org/W4385430679","https://openalex.org/W4389665480","https://openalex.org/W4389665947","https://openalex.org/W4390874575","https://openalex.org/W4401415287","https://openalex.org/W4401416086","https://openalex.org/W4401416579","https://openalex.org/W4402354047"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W3150465815","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W1997222214","https://openalex.org/W4413232173","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W2802581102"],"abstract_inverted_index":{"Cloud":[0],"robotics":[1],"enables":[2],"robots":[3],"to":[4,9,34,87,90,104,121,123,170,185,189],"offload":[5],"computationally":[6],"intensive":[7],"tasks":[8],"cloud":[10,23,92],"servers":[11,62,93,122],"for":[12,29],"performance,":[13],"cost,":[14],"and":[15,22,52,94,107,160,216,232,238],"ease":[16],"of":[17,71,119,127,153,224],"management.":[18],"However,":[19],"the":[20,69,96,117,125,154,222,225],"network":[21,85,111],"computing":[24],"infrastructure":[25],"are":[26],"not":[27],"designed":[28],"reliable":[30],"timing":[31],"guarantees,":[32],"due":[33],"fluctuating":[35],"Quality-of-Service":[36],"(QoS).":[37],"In":[38,176],"this":[39],"work,":[40],"we":[41],"formulate":[42],"an":[43,204],"impossibility":[44],"triangle":[45],"theorem":[46,57],"for:":[47],"Latency":[48,78],"reliability,":[49],"Singleton":[50],"server,":[51],"Commodity":[53],"hardware.":[54],"The":[55],"LSC":[56],"suggests":[58],"that":[59,81],"providing":[60],"replicated":[61,91],"with":[63,137],"uncorrelated":[64],"failures":[65],"can":[66,240],"exponentially":[67],"reduce":[68],"probability":[70,126],"missing":[72,128],"a":[73,129,133,198,210],"deadline.":[74,130],"We":[75,100,131,164,194],"present":[76],"FogROS2-Probabilistic":[77],"Reliability":[79],"(PLR)":[80],"uses":[82,95],"multiple":[83],"independent":[84],"interfaces":[86,112,120],"send":[88],"requests":[89],"first":[97],"response":[98],"back.":[99],"design":[101],"routing":[102],"mechanisms":[103],"discover,":[105],"connect,":[106],"route":[108],"through":[109],"non-default":[110],"on":[113,197,243],"robots.":[114],"FogROS2-PLR":[115,144,179,196,220],"optimizes":[116],"selection":[118],"minimize":[124],"conduct":[132],"cloud-connected":[134],"driving":[135],"experiment":[136],"two":[138],"5":[139,217],"G":[140,218],"service":[141,148,155,192],"providers,":[142],"demonstrating":[143],"effectively":[145],"provides":[146],"smooth":[147],"quality":[149],"even":[150],"if":[151],"one":[152,177,191],"providers":[156],"experiences":[157],"low":[158],"coverage":[159],"base":[161],"station":[162],"handover.":[163],"use":[165],"99":[166],"Percentile":[167],"(P99)":[168],"latency":[169,174,182,229,234],"evaluate":[171],"anomalous":[172],"long-tail":[173],"behavior.":[175],"experiment,":[178],"improves":[180,221],"P99":[181,233],"by":[183,230,235],"up":[184],"3.7":[186],"x":[187],"compared":[188],"using":[190],"provider.":[193],"deploy":[195],"physical":[199],"Stretch":[200],"3":[201],"robot":[202,226],"performing":[203],"indoor":[205],"human-tracking":[206],"task.":[207],"Even":[208],"in":[209],"fully":[211],"covered":[212],"<tex":[213],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[214,246,248],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\text{Wi}-\\text{Fi}$</tex>":[215],"environment,":[219],"responsiveness":[223],"reducing":[227],"mean":[228],"36%":[231],"33%.":[236],"Code":[237],"supplementary":[239],"be":[241],"found":[242],"website":[244],"<sup":[245],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup><sup":[247],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>https://github.com/data-capsule/rt-fogros2.":[249]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}