A task control architecture for autonomous robots

An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described

Dynamic edge-caching for mobile users: minimising inter-AS traffic by moving cloud services and VMs

In recent years, Cloud technology has revolutionized the way services are delivered to end-users. The advent of truly mobile computing in the form of smart phones and tablets has also driven the demand for Cloud resources in order to compensate for the inherent lack of local resources on these devices. Furthermore, modern mobile devices are equipped with multiple network interfaces and in combination with the rapid deployment of wireless networks, it is expected that they will always have Internet connectivity and access to Cloud resources. In this paper we will focus on traffic management for interactive multimedia services accessed by a mobile user by means of dynamic migration of a Virtual Machine. Network performance measurements are taken from a network of virtualization-enabled hosts that perform live migrations of a Virtual Machine which hosts multimedia content. The data is used as input to an equation that determines whether a migration would be beneficial in terms of traffic localization based on a user's mobility characteristics and network usage patterns. The contribution of this paper lies in the proposed mechanism of managing traffic for interactive services in the context of mobile cloud computing. This helps alleviate the increased network costs introduced by dynamic migrations driven by Quality of Service parameters and may result in increased network traffic for the benefit of improved QoS

Client Selection for Federated Learning with Heterogeneous Resources in Mobile Edge

We envision a mobile edge computing (MEC) framework for machine learning (ML) technologies, which leverages distributed client data and computation resources for training high-performance ML models while preserving client privacy. Toward this future goal, this work aims to extend Federated Learning (FL), a decentralized learning framework that enables privacy-preserving training of models, to work with heterogeneous clients in a practical cellular network. The FL protocol iteratively asks random clients to download a trainable model from a server, update it with own data, and upload the updated model to the server, while asking the server to aggregate multiple client updates to further improve the model. While clients in this protocol are free from disclosing own private data, the overall training process can become inefficient when some clients are with limited computational resources (i.e. requiring longer update time) or under poor wireless channel conditions (longer upload time). Our new FL protocol, which we refer to as FedCS, mitigates this problem and performs FL efficiently while actively managing clients based on their resource conditions. Specifically, FedCS solves a client selection problem with resource constraints, which allows the server to aggregate as many client updates as possible and to accelerate performance improvement in ML models. We conducted an experimental evaluation using publicly-available large-scale image datasets to train deep neural networks on MEC environment simulations. The experimental results show that FedCS is able to complete its training process in a significantly shorter time compared to the original FL protocol

SDN/NFV-enabled satellite communications networks: opportunities, scenarios and challenges

In the context of next generation 5G networks, the satellite industry is clearly committed to revisit and revamp the role of satellite communications. As major drivers in the evolution of (terrestrial) fixed and mobile networks, Software Defined Networking (SDN) and Network Function Virtualisation (NFV) technologies are also being positioned as central technology enablers towards improved and more flexible integration of satellite and terrestrial segments, providing satellite network further service innovation and business agility by advanced network resources management techniques. Through the analysis of scenarios and use cases, this paper provides a description of the benefits that SDN/NFV technologies can bring into satellite communications towards 5G. Three scenarios are presented and analysed to delineate different potential improvement areas pursued through the introduction of SDN/NFV technologies in the satellite ground segment domain. Within each scenario, a number of use cases are developed to gain further insight into specific capabilities and to identify the technical challenges stemming from them.Peer ReviewedPostprint (author's final draft

ENORM: A Framework For Edge NOde Resource Management

Current computing techniques using the cloud as a centralised server will become untenable as billions of devices get connected to the Internet. This raises the need for fog computing, which leverages computing at the edge of the network on nodes, such as routers, base stations and switches, along with the cloud. However, to realise fog computing the challenge of managing edge nodes will need to be addressed. This paper is motivated to address the resource management challenge. We develop the first framework to manage edge nodes, namely the Edge NOde Resource Management (ENORM) framework. Mechanisms for provisioning and auto-scaling edge node resources are proposed. The feasibility of the framework is demonstrated on a PokeMon Go-like online game use-case. The benefits of using ENORM are observed by reduced application latency between 20% - 80% and reduced data transfer and communication frequency between the edge node and the cloud by up to 95\%. These results highlight the potential of fog computing for improving the quality of service and experience.Comment: 14 pages; accepted to IEEE Transactions on Services Computing on 12 September 201

Middleware Technologies for Cloud of Things - a survey

The next wave of communication and applications rely on the new services provided by Internet of Things which is becoming an important aspect in human and machines future. The IoT services are a key solution for providing smart environments in homes, buildings and cities. In the era of a massive number of connected things and objects with a high grow rate, several challenges have been raised such as management, aggregation and storage for big produced data. In order to tackle some of these issues, cloud computing emerged to IoT as Cloud of Things (CoT) which provides virtually unlimited cloud services to enhance the large scale IoT platforms. There are several factors to be considered in design and implementation of a CoT platform. One of the most important and challenging problems is the heterogeneity of different objects. This problem can be addressed by deploying suitable "Middleware". Middleware sits between things and applications that make a reliable platform for communication among things with different interfaces, operating systems, and architectures. The main aim of this paper is to study the middleware technologies for CoT. Toward this end, we first present the main features and characteristics of middlewares. Next we study different architecture styles and service domains. Then we presents several middlewares that are suitable for CoT based platforms and lastly a list of current challenges and issues in design of CoT based middlewares is discussed.Comment: http://www.sciencedirect.com/science/article/pii/S2352864817301268, Digital Communications and Networks, Elsevier (2017

Middleware Technologies for Cloud of Things - a survey

The next wave of communication and applications rely on the new services provided by Internet of Things which is becoming an important aspect in human and machines future. The IoT services are a key solution for providing smart environments in homes, buildings and cities. In the era of a massive number of connected things and objects with a high grow rate, several challenges have been raised such as management, aggregation and storage for big produced data. In order to tackle some of these issues, cloud computing emerged to IoT as Cloud of Things (CoT) which provides virtually unlimited cloud services to enhance the large scale IoT platforms. There are several factors to be considered in design and implementation of a CoT platform. One of the most important and challenging problems is the heterogeneity of different objects. This problem can be addressed by deploying suitable "Middleware". Middleware sits between things and applications that make a reliable platform for communication among things with different interfaces, operating systems, and architectures. The main aim of this paper is to study the middleware technologies for CoT. Toward this end, we first present the main features and characteristics of middlewares. Next we study different architecture styles and service domains. Then we presents several middlewares that are suitable for CoT based platforms and lastly a list of current challenges and issues in design of CoT based middlewares is discussed.Comment: http://www.sciencedirect.com/science/article/pii/S2352864817301268, Digital Communications and Networks, Elsevier (2017

Addressing the Challenges in Federating Edge Resources

This book chapter considers how Edge deployments can be brought to bear in a global context by federating them across multiple geographic regions to create a global Edge-based fabric that decentralizes data center computation. This is currently impractical, not only because of technical challenges, but is also shrouded by social, legal and geopolitical issues. In this chapter, we discuss two key challenges - networking and management in federating Edge deployments. Additionally, we consider resource and modeling challenges that will need to be addressed for a federated Edge.Comment: Book Chapter accepted to the Fog and Edge Computing: Principles and Paradigms; Editors Buyya, Sriram