ABSTRACT In a cloud robotics system, communication between robots and between robots and the cloud are crucial from the application prospective. Due to the nature of the network technology (predominantly wireless) and nature of the network devices, direct communication between robots and between robots and the cloud is not feasible. Multi-hop communication is the only feasible solution in such scenarios. In Multi-hop communication, finding the optimal route between the end points is a complicated task. This becomes further complicated when the communicating nodes are mobile and do not have enough communication and computational power as in the case of robots. Though robots can compute the end-to-end path, it is a complicated task for them and is sometimes infeasible in practice due to their low computation and communication power. To overcome this problem, we propose a multi-hop communication model called Dynamic Path Selection using Cloud-based Multi-hop Multi-Robot (DPS-CMM) model, where instead of the robots, the cloud decides the end-to-end communication path which the robots need to use to communicate among themselves. In this model, the cloud provides the optimal path information of the robots to the Access Points (APs) such that source robot establishes a reliable communication path through the APs to reach the destination robot. In this paper, the DPS-CMM model provides the information of network topology and computes the path selection at the cloud instead of computing the same in robots level thereby increasing the life time of robotic networks. To validate this model, we use combination of NS-3 and Matlab-based simulations and compare our scheme with the existing state-of-the-art solutions.

中文翻译：

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基于云的多跳多机器人无线网络的动态路径选择

摘要 在云机器人系统中，机器人之间以及机器人与云之间的通信从应用的角度来看是至关重要的。由于网络技术的性质（主要是无线）和网络设备的性质，机器人之间以及机器人与云之间的直接通信是不可行的。在这种场景下，多跳通信是唯一可行的解​​决方案。在多跳通信中，寻找端点之间的最佳路由是一项复杂的任务。当通信节点是移动的并且没有足够的通信和计算能力时，这会变得更加复杂，就像机器人的情况一样。虽然机器人可以计算端到端的路径，但对他们来说这是一项复杂的任务，并且由于其计算和通信能力低，有时在实践中是不可行的。为了克服这个问题，我们提出了一种称为动态路径选择的多跳通信模型，使用基于云的多跳多机器人 (DPS-CMM) 模型，其中云代替机器人来决定端到端的通信机器人需要用来在它们之间进行通信的路径。在该模型中，云将机器人的最佳路径信息提供给接入点（AP），从而源机器人通过 AP 建立可靠的通信路径到达目标机器人。在本文中，DPS-CMM 模型提供网络拓扑信息并在云端计算路径选择，而不是在机器人级别进行计算，从而增加机器人网络的生命周期。为了验证这个模型，