Cloud computing with its three key facets (i.e., IaaS, PaaS, and SaaS) and its inherent advantages (e.g., elasticity and scalability) still faces several challenges. The distance between the cloud and the end devices might be an issue for latencysensitive applications such as disaster management and content delivery applications. Service Level Agreements (SLAs) may also impose processing at locations where the cloud provider does not have data centers. Fog computing is a novel paradigm to address such issues. It enables provisioning resources and services outside the cloud, at the edge of the network, closer to end devices or eventually, at locations stipulated by SLAs. Fog computing is not a substitute for cloud computing but a powerful complement. It enables processing at the edge while still offering the possibility to interact with the cloud. This article presents a comprehensive survey on fog computing. It critically reviews the state of the art in the light of a concise set of evaluation criteria. We cover both the architectures and the algorithms that make fog systems. Challenges and research directions are also introduced. In addition, the lessons learned are reviewed and the prospects are discussed in terms of the key role fog is likely to play in emerging technologies such as Tactile Internet.

Fog computing reduces the latency induced by distant clouds by enabling the deployment of some application components at the edge of the network, on fog nodes, while keeping others in the cloud. Application components can be implemented as Virtual Network Functions (VNFs) and their execution sequences can be modeled by a combination of sub-structures like sequence, parallel, selection, and loops. Efficient placement algorithms are required to map the application components onto the infrastructure nodes. Current solutions do not consider the mobility of fog nodes, a phenomenon which may happen in real systems. In this paper, we use the random waypoint mobility model for fog nodes to calculate the expected makespan and application execution cost. We then model the problem as an Integer Linear Programming (ILP) formulation which minimizes an aggregated weighted function of the makespan and cost. We propose a Tabu Search-based Component Placement (TSCP) algorithm to find sub-optimal placements. The results show that the proposed algorithm improves the makespan and the application execution cost.

Applications are sets of interacting components that can be executed in sequence, in parallel, or by using more complex constructs such as selections and loops. They can, therefore, be modeled as structured graphs with substructures consisting of these constructs. Fog computing can reduce the latency induced by distant clouds by enabling the deployment of some components at the edge of the network (i.e., closer to end-devices) while keeping others in the cloud. Network Functions Virtualization (NFV) decouples software from hardware and enables an agile deployment of network services and applications as Virtual Network Functions (VNFs). In NFV settings, efficient placement algorithms are required to map the structured graphs representing the VNF Forwarding Graphs (VNF-FGs) onto the infrastructure of the hybrid cloud/fog system. Only deterministic graphs with sequence and parallel substructures have been considered thus to date. However, several real-life applications do require non-deterministic graphs with sub-structures as selections and loops. This paper focuses on application component placement in NFVbased hybrid cloud/fog systems, with the assumption that the graph representing the application is non-deterministic. The objective is to minimize an aggregated weighted function of makespan and cost. The problem is modeled as an Integer Linear Programming (ILP) and evaluated over small-scale scenarios using the CPLEX optimization tool.

Large-scale disaster management applications are among the several realistic applications of the IoT. Fire detection and earthquake early warning applications are just two examples. Several IoT devices are used in such applications e.g., sensors and robots. These sensors and robots are usually heterogeneous. Moreover, in disaster scenarios, the existing communication infrastructure may become completely or partially destroyed, leaving mobile ad-hoc networks the only alternative to provide connectivity. Utilizing these applications raises new challenges such as the need for dynamic, flexible, and distributed gateways which can accommodate new applications and new IoT devices. Network Functions Virtualization (NFV) and Software Defined Networking (SDN) are emerging paradigms that can help to overcome these challenges. This paper leverages NFV and SDN to propose an architecture for on-the-fly distributed gateway provisioning in large-scale disaster management. In the proposed architecture, the gateway functions are provisioned as Virtual Network Functions (VNFs) that are chained on-the-fly in the IoT domain using SDN. A prototype is built and the performance results are presented.

Internet of Things (IoT) is expected to enable a myriad of applications by interconnecting objects -such as sensors and robots -over the Internet. IoT applications range from healthcare to autonomous vehicles and include disaster management. Enabling these applications in cloud environments requires the design of appropriate IoT Infrastructure-as-a-Service (IoT IaaS) to ease the provisioning of the IoT objects as cloud services. This paper discusses a case study on search and rescue IoT applications in large-scale disaster scenarios. It proposes an IoT IaaS architecture that virtualizes robots (IaaS for robots) and provides them to the upstream applications as-a-Service. Node-and Network-level robots virtualization are supported. The proposed architecture meets a set of identified requirements, such as the need for a unified description model for heterogeneous robots, publication/discovery mechanism, and federation with other IaaS for robots when needed. A validating proof of concept is built and experiments are made to evaluate its performance. Lessons learned and prospective research directions are discussed.

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Abstract-In large-scale natural disasters, humans are likely to fail when they attempt to reach high-risk sites or act in search and rescue operations. Robots, however, outdo their counterparts in surviving the hazards and handling the search and rescue missions due to their multiple and diverse sensing and actuation capabilities. The dynamic formation of optimal coalition of these heterogeneous robots for cost efficiency is very challenging and research in the area is gaining more and more attention. In this paper, we propose a novel heuristic. Since the population of robots in large-scale disaster settings is very large, we rely on Quantum Multi-Objective Particle Swarm Optimization (QMOPSO). The problem is modeled as a multi-objective optimization problem. Simulations with different test cases and metrics, and comparison with other algorithms such as NSGA-II and SPEA-II are carried out. The experimental results show that the proposed algorithm outperforms the existing algorithms not only in terms of convergence but also in terms of diversity and processing time.

Cloud computing, despite its inherent advantages (e.g., resource efficiency) still faces several challenges. The wide area network used to connect the cloud to end-users could cause high latency, which may not be tolerable for some applications, especially Internet of Things (IoT) applications. Fog computing can reduce this latency by extending the traditional cloud architecture to the edge of the network and by enabling the deployment of some application components on fog nodes. Application providers use Platform-as-a-Service (PaaS) to provision (i.e., develop, deploy, manage, and orchestrate) applications in cloud. However, existing PaaS solutions (including IoT PaaS) usually focus on cloud and do not enable provisioning of applications with components spanning cloud and fog. Provisioning such applications requires novel functions, such as application graph generation, that are absent from existing PaaS. Furthermore, several functions offered by existing PaaS (e.g., publication/discovery) need to be significantly extended in order to fit in a hybrid cloud/fog environment. In this paper, we propose a novel architecture for PaaS for hybrid cloud/fog system. It is IoT use case-driven, and its applications' components are implemented as Virtual Network Functions (VNFs) with execution sequences modeled as graphs with sub-structures such as selection and loops. It automates the provisioning of applications with components spanning cloud and fog. In addition, it enables the discovery of existing cloud and fog nodes and generates application graphs. A proof of concept is built based on Cloudify open source. Feasibility is demonstrated by evaluating its performance when PaaS modules and application components are placed in clouds and fogs in different geographical locations.