Mobility-Aware Computation Offloading for Swarm Robotics using Deep Reinforcement Learning

Swarm robotics is envisioned to automate a large number of dirty, dangerous, and dull tasks. Robots have limited energy, computation capability, and communication resources. Therefore, current swarm robotics have a small number of robots, which can only provide limited spatio-temporal information. I...

Full description

Saved in:
Bibliographic Details
Published in:arXiv.org 2023-08
Main Authors: Wang, Xiucheng, Guo, Hongzhi
Format: Article
Language:English
Subjects:
Computation offloading
Deep learning
Edge computing
Mobile computing
Resource scheduling
Robotics
Robots
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Swarm robotics is envisioned to automate a large number of dirty, dangerous, and dull tasks. Robots have limited energy, computation capability, and communication resources. Therefore, current swarm robotics have a small number of robots, which can only provide limited spatio-temporal information. In this paper, we propose to leverage the mobile edge computing to alleviate the computation burden. We develop an effective solution based on a mobility-aware deep reinforcement learning model at the edge server side for computing scheduling and resource. Our results show that the proposed approach can meet delay requirements and guarantee computation precision by using minimum robot energy.
ISSN:2331-8422
DOI:10.48550/arxiv.2308.11154