用控制质量优化无线边缘机器人协作的资源分配
Quality of Control based Resource Dimensioning for Collaborative Edge Robotics
- 基于控制质量构建机器人任务抽象，以延迟和可靠性为参数
- 放宽延迟可提升可靠传输，显著改善系统控制质量
- 动态分配时隙资源，平衡通信与控制开销，适合工业柔性自动化
随着柔性自动化需求增加，探索云端与边缘网络基础设施在机器人系统中的部署变得至关重要。本文研究无线解决方案如何支持从固定有线架构向更灵活适应的工业自动化转型。提出一种基于控制质量（QoC）的机器人工作负载抽象，以回路延迟和可靠性为参数，联合优化系统性能。系统包含协同机器人执行分布式任务，凸显无线通信在动态协调中的作用。利用该抽象，可最优最大化QoC，确保在不同网络条件下高效运行。此外，方案在时隙中分配通信资源，优化通信与控制成本的平衡。仿真结果表明，单纯最小化延迟未必带来最佳QoC；适度放宽延迟可显著提升数据可靠传输率，从而大幅提高控制质量。
原文摘要 · Abstract (English)
With the increasing focus on flexible automation, which emphasizes systems capable of adapting to varied tasks and conditions, exploring future deployments of cloud and edge-based network infrastructures in robotic systems becomes crucial. This work, examines how wireless solutions could support the shift from rigid, wired setups toward more adaptive, flexible automation in industrial environments. We provide a quality of control (QoC) based abstraction for robotic workloads, parameterized on loop latency and reliability, and jointly optimize system performance. The setup involves collaborative robots working on distributed tasks, underscoring how wireless communication can enable more dynamic coordination in flexible automation systems. We use our abstraction to optimally maximize the QoC ensuring efficient operation even under varying network conditions. Additionally, our solution allocates the communication resources in time slots, optimizing the balance between communication and control costs. Our simulation results highlight that minimizing the delay in the system may not always ensure the best QoC but can lead to substantial gains in QoC if delays are sometimes relaxed, allowing more packets to be delivered reliably.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。