Distributed Fog Computing for Latency and Reliability Guaranteed Swarm of Drones

Abstract

Swarm of drones, as an intensely significant category of swarm robots, is widely used in various fields, e.g., search and rescue, detection missions, military, etc. Because of the limitation of computing resource of drones, dealing with computation-intensive tasks locally is difficult. Hence, the cloud-based computation offloading is widely adopted, nevertheless, for some latency-sensitive tasks, e.g., object recognition, path planning, etc., the cloud-based manner is inappropriate due to the excessive delay. Even in some harsh environments, e.g., disaster area, battlefield, etc., there is no wireless infrastructure existed to combine the drones and cloud center. Thus, to solve the problem encountered by cloud-based computation offloading, in this paper, Fog Computing aided Swarm of Drones (FCSD) architecture is proposed. Considering the uncertainty factors in harsh environments which may threaten the success of FCSD processing tasks, not only the latency model, but also the reliability model of FCSD is constructed to guarantee the high reliability of task completion. Moreover, in view of the limited battery life of the drone, we formulated the problem as the task allocation problem which minimized the energy consumption of FCSD under the constraints of latency and reliability. Furthermore, to speed up the process of the optimization problem solving to improve the practicality, relying on the recent advances in distributed convex optimization, we develop a fast Proximal Jacobi Alternating Direction Method of Multipliers (ADMM) based distributed algorithm. Finally, simulation results validate the effectiveness of our proposed scheme. INDEX TERMS Swarm of drones, distributed fog computing, latency, reliability, energy consumption.

Fog Computing Advancement: Concept, Architecture, Applications, Advantages, and Open Issues

“…The contribution comes up with a hybrid algorithm termed discrete Monkey Algorithm Genetic Algorithm (DMGA) the optimization, and the results achieved well performed in mild logistics center challenge cases. Medical Cyber-Physical Systems (MCPSs) is a technology that enables smooth and smart interaction between computer elements and medical equipment, and this sector was considered in the study of Gu et al [112] aims to link FC with MCPF because Fog Computing eligible to support these devices with real-time actions and low cost.…”

“…Fog Computing aided Swarm of Drones (FCSD) is a proposed model for the study of [115]. The proposed model considers two concepts: latency and reliability with the tough environment and the short lifetime batteries of drone awareness.…”

Swarm Robotics: A Perspective on the Latest Reviewed Concepts and Applications

“…These issues help to assess the real-time aspects, data processing, and data analysis payload processes within any project. In the context of SR, it is feasible to analyze the data in the Edge [ 82 , 83 ], Fog [ 84 , 85 , 86 ], Cloud [ 87 , 88 , 89 ], or even combine these strategies [ 90 ]. Some examples of frameworks and architectures are: Aerostack is an example of architecture and software framework developed for UAV/UAS SR applications [ 91 ].…”

A Quadral-Fuzzy Control Approach to Flight Formation by a Fleet of Unmanned Aerial Vehicles

“…Several studies have contributed to making cargo delivery by drone a reality [6]. The researches are looking for improving navigation capabilities such sensing ability [13], [14], intelligent control [15]- [19] and obstacle and collision avoidance [12], [20], [21].…”