Mobile edge computing(MEC)deploy-ment in a multi-robot cooperation(MRC)system is an effective way to accomplish the tasks in terms of en-ergy consumption and implementation latency.How-ever,the computation and communication resources need to be considered jointly to fully exploit the ad-vantages brought by the MEC technology.In this pa-per,the scenario where multi robots cooperate to ac-complish the time-critical tasks is studied,where an intelligent master robot(MR)acts as an edge server to provide services to multiple slave robots(SRs)and the SRs are responsible for the environment sensing and data collection.To save energy and prolong the function time of the system,two schemes are proposed to optimize the computation and communication re-sources,respectively.In the first scheme,the energy consumption of SRs is minimized and balanced while guaranteeing that the tasks are accomplished under a time constraint.In the second scheme,not only the energy consumption,but also the remaining energies of the SRs are considered to enhance the robustness of the system.Through the analysis and numerical simu-lations,we demonstrate that even though the first pol-icy may guarantee the minimization on the total SRs'energy consumption,the function time of MRC sys-tem by the second scheme is longer than that by the first one.

Rui Yin;Yineng Shen;Huawei Zhu;Xianfu Chen;Celimuge Wu

School of Information and Electrical Engineering,Zhejiang University City College,Hangzhou 310015,China;School of Information and Electrical Engineering,Zhejiang University,Hangzhou 310027,China;The VTT Technical Research Centre of Finland,Oulu,90570,Finland;Graduate School of Informatics and Engineering,the University of Electro-Communications,Tokyo,182-8585,Japan

中国通信（英文版）

[1]Rui Yin;Yineng Shen;Huawei Zhu;Xianfu Chen;Celimuge Wu-.Time-Critical Tasks Implementation in MEC Based Multi-Robot Cooperation Systems)[J].中国通信（英文版）,2022(04):199-215

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Time,Critical,Tasks,Implementation,MEC,Based,Multi,Robot,Cooperation,Systems,Mobile,edge,computing,deploy,cooperation,MRC,system,effective,way,tasks,terms,consumption,implementation,latency,How,ever,computation,communication,resources,need,be,considered,jointly,fully,exploit,ad,vantages,brought,by,technology,In,this,pa,scenario,where,robots,cooperate,critical,studied,intelligent,master,acts,server,provide,services,multiple,slave,SRs,are,responsible,environment,sensing,data,collection,To,save,energy,prolong,function,two,schemes,proposed,optimize,respectively,first,minimized,balanced,while,guaranteeing,that,accomplished,under,constraint,second,not,only,but,also,remaining,energies,enhance,robustness,Through,analysis,numerical,simu,lations,we,demonstrate,even,though,pol,icy,may,minimization,total,longer,than,one

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