Stabilization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter

This paper presents the design of a control model to navigate the differential mobile robot to reach the desired destination from an arbitrary initial pose. The designed model is divided into two stages: the state estimation and the stabilization control. In the state estimation, an extended Kalman filter is employed to optimally combine the information from the system dynamics and measurements. Two Lyapunov functions are constructed that allow a hybrid feedback control law to execute the robot movements. The asymptotical stability and robustness of the closed loop system are assured. Simulations and experiments are carried out to validate the effectiveness and applicability of the proposed approach.Comment: arXiv admin note: text overlap with arXiv:1611.07112, arXiv:1611.0711

Coordinated Container Migration and Base Station Handover in Mobile Edge Computing

Offloading computationally intensive tasks from mobile users (MUs) to a virtualized environment such as containers on a nearby edge server, can significantly reduce processing time and hence end-to-end (E2E) delay. However, when users are mobile, such containers need to be migrated to other edge servers located closer to the MUs to keep the E2E delay low. Meanwhile, the mobility of MUs necessitates handover among base stations in order to keep the wireless connections between MUs and base stations uninterrupted. In this paper, we address the joint problem of container migration and base-station handover by proposing a coordinated migration-handover mechanism, with the objective of achieving low E2E delay and minimizing service interruption. The mechanism determines the optimal destinations and time for migration and handover in a coordinated manner, along with a delta checkpoint technique that we propose. We implement a testbed edge computing system with our proposed coordinated migration-handover mechanism, and evaluate the performance using real-world applications implemented with Docker container (an industry-standard). The results demonstrate that our mechanism achieves 30%-40% lower service downtime and 13%-22% lower E2E delay as compared to other mechanisms. Our work is instrumental in offering smooth user experience in mobile edge computing.Comment: 6 pages. Accepted for presentation at the IEEE Global Communications Conference (Globecom), Taipei, Taiwan, Dec. 202