{"id":"https://openalex.org/W2919259948","doi":"https://doi.org/10.1109/tvt.2019.2901761","title":"QoS-Aware Cooperative Computation Offloading for Robot Swarms in Cloud Robotics","display_name":"QoS-Aware Cooperative Computation Offloading for Robot Swarms in Cloud Robotics","publication_year":2019,"publication_date":"2019-02-26","ids":{"openalex":"https://openalex.org/W2919259948","doi":"https://doi.org/10.1109/tvt.2019.2901761","mag":"2919259948"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2019.2901761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2019.2901761","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-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/A5075795671","display_name":"Zicong Hong","orcid":"https://orcid.org/0000-0001-5689-382X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zicong Hong","raw_affiliation_strings":["School of Data and Computer Science and the National Engineering Research Center of Digital Life, Sun Yat-Sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5689-382X","affiliations":[{"raw_affiliation_string":"School of Data and Computer Science and the National Engineering Research Center of Digital Life, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047931252","display_name":"Huawei Huang","orcid":"https://orcid.org/0000-0002-7035-6446"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huawei Huang","raw_affiliation_strings":["School of Data and Computer Science and the National Engineering Research Center of Digital Life, Sun Yat-Sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7035-6446","affiliations":[{"raw_affiliation_string":"School of Data and Computer Science and the National Engineering Research Center of Digital Life, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043464306","display_name":"Song Guo","orcid":"https://orcid.org/0000-0001-9831-2202"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Song Guo","raw_affiliation_strings":["Department of Computing, The Hong Kong Polytechnic University, Hung Hom, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9831-2202","affiliations":[{"raw_affiliation_string":"Department of Computing, The Hong Kong Polytechnic University, Hung Hom, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066482792","display_name":"Wuhui Chen","orcid":"https://orcid.org/0000-0003-4430-7904"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wuhui Chen","raw_affiliation_strings":["School of Data and Computer Science and the National Engineering Research Center of Digital Life, Sun Yat-Sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4430-7904","affiliations":[{"raw_affiliation_string":"School of Data and Computer Science and the National Engineering Research Center of Digital Life, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012731436","display_name":"Zibin Zheng","orcid":"https://orcid.org/0000-0001-7872-7718"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zibin Zheng","raw_affiliation_strings":["School of Data and Computer Science and the National Engineering Research Center of Digital Life, Sun Yat-Sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-7872-7718","affiliations":[{"raw_affiliation_string":"School of Data and Computer Science and the National Engineering Research Center of Digital Life, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.9525,"has_fulltext":false,"cited_by_count":73,"citation_normalized_percentile":{"value":0.97597204,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"68","issue":"4","first_page":"4027","last_page":"4041"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10273","display_name":"IoT and Edge/Fog Computing","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10273","display_name":"IoT and Edge/Fog Computing","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9958999752998352,"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"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/computation-offloading","display_name":"Computation offloading","score":0.916597843170166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7464869022369385},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.6140139102935791},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5958623290061951},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5131211876869202},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5050778985023499},{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.5027525424957275},{"id":"https://openalex.org/keywords/quality-of-service","display_name":"Quality of service","score":0.4740084111690521},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42195117473602295},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.4129689037799835},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33392032980918884},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33191293478012085},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.3254803419113159},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27592796087265015},{"id":"https://openalex.org/keywords/edge-computing","display_name":"Edge computing","score":0.2750825881958008},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11056283116340637}],"concepts":[{"id":"https://openalex.org/C2781041963","wikidata":"https://www.wikidata.org/wiki/Q18348618","display_name":"Computation offloading","level":4,"score":0.916597843170166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7464869022369385},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.6140139102935791},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5958623290061951},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5131211876869202},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5050778985023499},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.5027525424957275},{"id":"https://openalex.org/C5119721","wikidata":"https://www.wikidata.org/wiki/Q220501","display_name":"Quality of service","level":2,"score":0.4740084111690521},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42195117473602295},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.4129689037799835},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33392032980918884},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33191293478012085},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.3254803419113159},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27592796087265015},{"id":"https://openalex.org/C2778456923","wikidata":"https://www.wikidata.org/wiki/Q5337692","display_name":"Edge computing","level":3,"score":0.2750825881958008},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11056283116340637},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvt.2019.2901761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2019.2901761","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-130704","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=0018-9545&rft.volume=68&rft.issue=4&rft.date=2019&rft.spage=4027&rft.aulast=Hong&rft.aufirst=Zicong&rft.atitle=QoS-Aware+Cooperative+Computation+Offloading+for+Robot+Swarms+in+Cloud+Robotics&rft.title=IEEE+Transactions+on+Vehicular+Technology","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[{"id":"https://openalex.org/G3320589821","display_name":null,"funder_award_id":"2018A030313005","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"},{"id":"https://openalex.org/G5917389280","display_name":null,"funder_award_id":"61802450","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8199004219","display_name":null,"funder_award_id":"61722214","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1901145513","https://openalex.org/W1970821253","https://openalex.org/W1984372133","https://openalex.org/W1986533639","https://openalex.org/W2000462596","https://openalex.org/W2010302594","https://openalex.org/W2068300842","https://openalex.org/W2080346852","https://openalex.org/W2136877695","https://openalex.org/W2195423816","https://openalex.org/W2206930994","https://openalex.org/W2285553406","https://openalex.org/W2322076341","https://openalex.org/W2492359416","https://openalex.org/W2508573783","https://openalex.org/W2515584092","https://openalex.org/W2536587200","https://openalex.org/W2576360468","https://openalex.org/W2585950747","https://openalex.org/W2742290149","https://openalex.org/W2753941074","https://openalex.org/W2762167842","https://openalex.org/W2767029835","https://openalex.org/W2783222607","https://openalex.org/W2789517229","https://openalex.org/W2790038630","https://openalex.org/W2791851645","https://openalex.org/W2896932575","https://openalex.org/W2962804513","https://openalex.org/W2979013543","https://openalex.org/W3022321359","https://openalex.org/W3098405735","https://openalex.org/W3122087971","https://openalex.org/W3150948256","https://openalex.org/W6639880351","https://openalex.org/W6652841820","https://openalex.org/W6768521733"],"related_works":["https://openalex.org/W2966556967","https://openalex.org/W2341911025","https://openalex.org/W4301078654","https://openalex.org/W4312141693","https://openalex.org/W1536009559","https://openalex.org/W2103821767","https://openalex.org/W1969185016","https://openalex.org/W2111030377","https://openalex.org/W2037619003","https://openalex.org/W1965856819"],"abstract_inverted_index":{"Computation":[0],"offloading":[1,48,88],"is":[2],"a":[3,60,110,120,136,175],"promising":[4],"solution":[5],"to":[6,21,140],"extend":[7],"the":[8,24,33,76,86,94,105,117,125,150,155,168],"capacity":[9],"of":[10,28,62,96,119,124,152],"robot":[11,19,69,82],"swarms":[12,20,70,83],"for":[13,68,127],"computation-intensive":[14],"applications":[15],"because":[16],"it":[17,173],"allows":[18],"benefit":[22],"from":[23],"powerful":[25],"computing":[26],"resources":[27],"modern":[29],"data":[30],"centers.":[31],"However,":[32],"existing":[34],"computation-offloading":[35,66,113],"approaches":[36],"still":[37],"face":[38],"challenges:":[39],"1)":[40],"multi-hop":[41,77,111],"cooperative":[42,65,78,112],"computation":[43,47,87],"offloading,":[44],"2)":[45],"joint":[46,106],"and":[49,51,84,89,100,115,130,144,172],"routing,":[50],"3)":[52],"task":[53],"slicing.":[54],"In":[55],"this":[56],"paper,":[57],"we":[58],"propose":[59,135],"quality":[61],"service":[63],"(QoS)-aware":[64],"scheme":[67],"using":[71],"game":[72,114,126],"theory.":[73],"We":[74,103,133],"analyze":[75],"communication":[79],"model":[80],"in":[81,154,179],"investigate":[85],"routing":[90],"decision-making":[91],"problems":[92],"with":[93],"goals":[95],"both":[97,128],"latency":[98],"minimization":[99],"energy":[101],"efficiency.":[102],"formulate":[104],"optimization":[107],"problem":[108],"as":[109,167],"show":[116,161],"existence":[118],"Nash":[121],"equilibrium":[122],"(NE)":[123],"unsliceable":[129],"sliceable":[131],"tasks.":[132],"further":[134],"QoS-aware":[137],"distributed":[138],"algorithm":[139,164],"attain":[141],"an":[142,146],"NE":[143],"provide":[145],"upper":[147],"bound":[148],"on":[149],"price":[151],"anarchy":[153],"game.":[156],"Finally,":[157],"our":[158,163],"simulated":[159],"results":[160],"that":[162],"scales":[165],"well":[166],"swarm":[169],"size":[170],"increases":[171],"has":[174],"stable":[176],"performance":[177],"gain":[178],"various":[180],"parameter":[181],"settings.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":9}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}