Consensus-based Resource Scheduling for Collaborative Multi-Robot Tasks

摘要

We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative map-merging to produce a live global map during exploration instead of traditional approaches that schedule tasks on centralized cloud-based systems to facilitate computing. Our decentralized approach to a consensus-based scheduling strategy benefits a multi-robot-edge collaboration system by adapting to dynamic computation needs and communication-changing statistics as the system tries to optimize resources while maintaining overall performance objectives. Before col-laborative task offloading, continuous device, and network profiling are performed at the computing resources, and the distributed scheduling scheme then selects the resource with maximum utility derived using a utility maximization approach. Thorough evaluations with and without edge servers on simu-lation and real-world multi-robot systems demonstrate that a lower task latency, a large throughput gain, and better frame rate processing may be achieved compared to the conventional edge-based systems.