Robotic Edge Resource Allocation for Agricultural Cyber-Physical System

Cloud-aided robots are increasingly adopted in realizing Cyber-Physical-Social System (CPSS) to reduce human efforts and enhance the system performance with diverse robotic applications. However, the multi-hop distance from robot to cloud data centre elevates the data transfer delay that often inhibits the deadline-satisfied task execution of robotic applications. Thanks to edge computing, this issue can be well addressed by harnessing computing resources in proximity of data sources. As edge resources are constrained in energy and processing capacity, sharing resources among the tasks of multiple robotic applications is critical to ensure. Therefore, in this paper, we develop a congestion game-theoretic robotic edge resource allocation mechanism for CPSS, which not only maintains the Quality-of-Service (QoS) by meeting task completion deadlines but also satisfies the energy constraints of resources. Here, Agriculture 4.0 is considered as a use case for the proposed mechanism which can be extended for other domains. Nevertheless, the performance evaluation of the proposed mechanism is conducted in an iFogSim simulated edge computing environment. In comparison with existing greedy, heuristic, and evolutionary benchmarks, our mechanism is proven to offer overall 20\% improvement in deadline satisfaction, energy consumption, and resource utilization.