{"id":"https://openalex.org/W4388585635","doi":"https://doi.org/10.48550/arxiv.2311.05600","title":"FogROS2-Config: Optimizing Latency and Cost for Multi-Cloud Robot Applications","display_name":"FogROS2-Config: Optimizing Latency and Cost for Multi-Cloud Robot Applications","publication_year":2023,"publication_date":"2023-11-09","ids":{"openalex":"https://openalex.org/W4388585635","doi":"https://doi.org/10.48550/arxiv.2311.05600"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2311.05600","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2311.05600","pdf_url":"https://arxiv.org/pdf/2311.05600","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2311.05600","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101607322","display_name":"Kaiyuan Chen","orcid":"https://orcid.org/0000-0002-8847-4870"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Chen, Kaiyuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027622116","display_name":"Kush Hari","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hari, Kush","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108272352","display_name":"R. C. Khare","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Khare, Rohil","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104196565","display_name":"Charlotte Le","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Le, Charlotte","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113304084","display_name":"Trinity Chung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chung, Trinity","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114223421","display_name":"Jaimyn Drake","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Drake, Jaimyn","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071396802","display_name":"Karthik Dharmarajan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ichnowski, Jeffrey","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050951396","display_name":"Simeon Adebola","orcid":"https://orcid.org/0009-0009-3576-3335"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kubiatowicz, John","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5005587345","display_name":"Jeffrey Ichnowski","orcid":"https://orcid.org/0000-0003-4874-9478"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Goldberg, Ken","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5101607322"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10273","display_name":"IoT and Edge/Fog Computing","score":0.9955999851226807,"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":0.9955999851226807,"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/T10101","display_name":"Cloud Computing and Resource Management","score":0.9764999747276306,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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":0.965399980545044,"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":0.7569546103477478},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.7565615177154541},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.7327539324760437},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5935280323028564},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.48311686515808105},{"id":"https://openalex.org/keywords/service-provider","display_name":"Service provider","score":0.42020711302757263},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4140554666519165},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3822682499885559},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33649158477783203},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.32022523880004883},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.3189738690853119},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.19985827803611755},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1314508318901062}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7569546103477478},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.7565615177154541},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.7327539324760437},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5935280323028564},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48311686515808105},{"id":"https://openalex.org/C116537","wikidata":"https://www.wikidata.org/wiki/Q2169973","display_name":"Service provider","level":3,"score":0.42020711302757263},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4140554666519165},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3822682499885559},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33649158477783203},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.32022523880004883},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.3189738690853119},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.19985827803611755},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1314508318901062},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2311.05600","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2311.05600","pdf_url":"https://arxiv.org/pdf/2311.05600","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2311.05600","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2311.05600","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2311.05600","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2311.05600","pdf_url":"https://arxiv.org/pdf/2311.05600","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4388585635.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W1997222214","https://openalex.org/W2802581102","https://openalex.org/W4205786897"],"abstract_inverted_index":{"Cloud":[0],"service":[1],"providers":[2],"provide":[3],"over":[4],"50,000":[5],"distinct":[6],"and":[7,33,50,84,104,118,121,132],"dynamically":[8],"changing":[9],"set":[10,67],"of":[11,43,68],"cloud":[12,44],"server":[13,113],"options.":[14],"To":[15],"help":[16],"roboticists":[17],"make":[18],"cost-effective":[19],"decisions,":[20],"we":[21,115],"present":[22],"FogROS2-Config,":[23],"an":[24],"open":[25],"toolkit":[26],"that":[27,47,123],"takes":[28],"ROS2":[29],"nodes":[30],"as":[31],"input":[32],"automatically":[34],"runs":[35],"relevant":[36],"benchmarks":[37],"to":[38,56,94,129],"quickly":[39,62],"return":[40],"a":[41,65,99],"menu":[42],"compute":[45],"services":[46],"tradeoff":[48],"latency":[49,105,119],"cost.":[51],"Because":[52],"it":[53],"is":[54],"infeasible":[55],"try":[57],"every":[58],"hardware":[59,127],"configuration,":[60],"FogROS2-Config":[61,74,87,124],"samples":[63],"tests":[64],"small":[66],"edge":[69],"case":[70],"servers.":[71],"We":[72],"evaluate":[73,116],"on":[75,111],"three":[76],"robotics":[77],"application":[78,109],"tasks:":[79],"visual":[80],"SLAM,":[81],"grasp":[82],"planning.":[83,86],"motion":[85],"can":[88],"reduce":[89],"the":[90,108],"cost":[91,103,117,131],"by":[92,106],"up":[93],"20x.":[95],"By":[96],"comparing":[97],"with":[98],"Pareto":[100],"frontier":[101],"for":[102],"running":[107],"task":[110],"feasible":[112],"configurations,":[114],"models":[120],"confirm":[122],"selects":[125],"efficient":[126],"configurations":[128],"balance":[130],"latency.":[133]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2023-11-11T00:00:00"}
