{"id":"https://openalex.org/W7163155223","doi":"https://doi.org/10.48550/arxiv.2606.00552","title":"Edge-Based QoS-Aware Adaptive Task Placement: A Closed-Loop Control in Multi-Robot Systems","display_name":"Edge-Based QoS-Aware Adaptive Task Placement: A Closed-Loop Control in Multi-Robot Systems","publication_year":2026,"publication_date":"2026-05-30","ids":{"openalex":"https://openalex.org/W7163155223","doi":"https://doi.org/10.48550/arxiv.2606.00552"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.00552","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.00552","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":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.00552","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136580230","display_name":"Thien Tran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tran, Thien","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060462225","display_name":"Jonathan Kua","orcid":"https://orcid.org/0000-0001-9699-9418"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kua, Jonathan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135360415","display_name":"Thuong Hoang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hoang, Thuong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134008483","display_name":"Minh Tran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tran, Minh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137632031","display_name":"Honghao Lyu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lyu, Honghao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137668430","display_name":"Jiong Jin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Jiong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T13382","display_name":"Robotics and Automated Systems","score":0.27160000801086426,"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"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.27160000801086426,"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/T10273","display_name":"IoT and Edge/Fog Computing","score":0.2508000135421753,"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/T12216","display_name":"Network Time Synchronization Technologies","score":0.16949999332427979,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.8299000263214111},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.6141999959945679},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.5954999923706055},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.5231999754905701},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5169000029563904},{"id":"https://openalex.org/keywords/orchestration","display_name":"Orchestration","score":0.4927999973297119},{"id":"https://openalex.org/keywords/edge-computing","display_name":"Edge computing","score":0.4480000138282776},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.43050000071525574},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4043000042438507}],"concepts":[{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.8299000263214111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7746000289916992},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.6141999959945679},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.5954999923706055},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.5231999754905701},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5169000029563904},{"id":"https://openalex.org/C199168358","wikidata":"https://www.wikidata.org/wiki/Q3367000","display_name":"Orchestration","level":3,"score":0.4927999973297119},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.46970000863075256},{"id":"https://openalex.org/C2778456923","wikidata":"https://www.wikidata.org/wiki/Q5337692","display_name":"Edge computing","level":3,"score":0.4480000138282776},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.44519999623298645},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.43050000071525574},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4043000042438507},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.36239999532699585},{"id":"https://openalex.org/C5119721","wikidata":"https://www.wikidata.org/wiki/Q220501","display_name":"Quality of service","level":2,"score":0.35839998722076416},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3472999930381775},{"id":"https://openalex.org/C134652429","wikidata":"https://www.wikidata.org/wiki/Q1052698","display_name":"Jitter","level":2,"score":0.33000001311302185},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.32510000467300415},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3133000135421753},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.30709999799728394},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.29829999804496765},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.29089999198913574},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.28299999237060547},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2806999981403351},{"id":"https://openalex.org/C2778858076","wikidata":"https://www.wikidata.org/wiki/Q5249539","display_name":"Decodes","level":3,"score":0.27880001068115234},{"id":"https://openalex.org/C203274722","wikidata":"https://www.wikidata.org/wiki/Q7001161","display_name":"Network performance","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C2989134064","wikidata":"https://www.wikidata.org/wiki/Q288510","display_name":"Execution time","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2551000118255615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.00552","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.00552","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.00552","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.00552","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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Multi-robot":[0],"systems":[1],"(MRS)":[2],"increasingly":[3],"offload":[4],"compute-intensive":[5],"perception":[6],"tasks":[7],"to":[8,11,32,50,110],"edge":[9,25,124],"nodes":[10,49,109],"meet":[12],"strict":[13],"time-sensitive":[14],"Quality-of-Service":[15],"(QoS)":[16],"constraints.":[17],"However,":[18],"static":[19,60,123],"task":[20,145],"orchestration":[21,192],"on":[22,148],"a":[23,41,52,63,75,167],"shared":[24],"node":[26],"can":[27],"severely":[28],"degrade":[29],"QoS":[30],"due":[31],"network":[33,100],"latency,":[34,79],"jitter,":[35],"and":[36,62,82,102,118,134,151,158,174],"edge-resource":[37],"contention.":[38],"We":[39],"present":[40],"pilot":[42],"edge-centric":[43],"MRS":[44,173],"testbed":[45,93],"using":[46,74],"Raspberry":[47],"Pi":[48],"evaluate":[51],"camera-to-manipulator":[53],"pipeline":[54],"under":[55,116],"three":[56],"modes:":[57],"local":[58],"execution,":[59],"offloading,":[61],"QoS-aware":[64,140,189],"Adaptive":[65],"Task":[66],"Placement":[67],"(ATP)":[68],"controller.":[69],"ATP":[70,141,165],"scores":[71],"candidate":[72],"placements":[73],"multi-metric":[76],"cost":[77],"(normalized":[78],"CPU":[80,128],"utilization,":[81],"switching":[83,144],"overhead)":[84],"over":[85],"two-second":[86],"control":[87,170],"windows.":[88],"The":[89],"closed-loop":[90],"visual":[91],"servoing":[92],"is":[94],"instrumented":[95],"with":[96],"sub-millisecond":[97],"clock":[98],"synchronization,":[99],"emulation,":[101],"detailed":[103],"monitoring":[104],"of":[105],"multiple":[106],"metrics":[107],"across":[108],"capture":[111],"realistic":[112],"jitter.":[113],"Experimental":[114],"results":[115,163],"compute-stress":[117],"network-fault":[119],"scenarios":[120],"show":[121],"that":[122],"offloading":[125],"reduces":[126],"on-board":[127],"load":[129],"but":[130],"amplifies":[131],"tail":[132,159],"latency":[133,150],"deadline":[135,156],"misses.":[136],"In":[137],"contrast,":[138],"the":[139,162,183],"controller,":[142],"by":[143],"placement":[146],"based":[147],"measured":[149],"utilization":[152],"thresholds,":[153],"consistently":[154],"lowers":[155],"violations":[157],"latency.":[160],"Overall,":[161],"position":[164],"as":[166],"practical":[168],"edge-side":[169],"primitive":[171],"for":[172,178,193],"concrete":[175],"design":[176],"guidelines":[177],"Cloud-Edge":[179],"Robotics":[180],"deployments":[181],"within":[182],"broader":[184],"cloud-fog":[185],"automation,":[186],"while":[187],"motivating":[188],"multi-objective":[190],"workload":[191],"industrial":[194],"cyber-physical":[195],"systems.":[196]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-03T00:00:00"}
