Performance comparison of container orchestration platforms with low cost devices in the fog, assisting Internet of Things applications

In the last decade there has been an increasing interest and demand on the Internet of Things (IoT) and its applications. But, when a high level of computing and/or real time processing is required for these applications, different problems arise due to their requirements. In this context, low cost autonomous and distributed Small Board Computers (SBC) devices, with processing, storage capabilities and wireless communications can assist these IoT networks. Usually, these SBC devices run an operating system based on Linux. In this scenario, container-based technologies and fog computing are an interesting approach and both have led to a new paradigm in how devices cooperate, improving overall capacity in a cluster of these SBC devices. The use of containers is considered a lightweight virtualization, allowing an application to be broken into small tasks as services, enabling load balancing, flexibility and scalability. Nevertheless when the number of devices and containers increases in the cluster, it is required an orchestration layer. There are not many solutions and available alternatives using these technologies applied on these networks, and less an assessment of their performances. This paper focuses on these technologies when we use fog computing with low cost SBC devices in a context of IoT. We use Linux containers and different available orchestration platforms (in particular Docker Swarm and Kubernetes), to run on the top of the cluster of commercial SBC devices. Thus, we carry out a thorough functional and performance comparison with different real topologies (wired and wireless) and using both homogeneous and heterogeneous clusters of SBC devices, showing their results. We conclude that with the collected experimental results, Docker Swarm orchestration platform outperforms its counterparts in the scenarios shown.