A Cloud Robotics Framework of Optimal Task Offloading for Smart City Applications

Cloud robotics is an emerging paradigm that enables autonomous robotic agents to communicate and collaborate with cloud computing infrastructures. It further complements Internet of Things (IoT) to improve the performance of smart city applications. By offloading heavy data-intensive computation to the ubiquitous cloud, quality of service (QoS) guarantee can be ensured. Unlike their mobile counterpart, the robots have unique characteristics of mobility, skill-learning, data collection and decision-making capabilities, which makes offloading decisions significantly complex. This paper proposes a generic cloud robotics framework to realize smart city vision while taking into consideration its various complexities. Specifically, task offloading is formulated as a constrained optimization problem capable of handling Direct Acyclic Graph (DAG) known as task flow. Given the constraints, a genetic algorithm (GA) based scheme is further developed to solve the problem. The performance of the algorithm is verified by evaluating the results via three benchmarks. To the best of our knowledge, this is one of the first attempts of task offloading approach for smart city applications of cloud robotics.