Resource-Aware Estimation and Control for Edge Robotics: A Set-Based Approach

The evolution of the Industrial Internet Things (IIoT) and edge computing enables resource-constrained mobile robots to offload computationally intensive localization algorithms. Naturally, utilizing remote resources an server these tasks encounters challenge a joint co-design in communication, control, estimation, infrastructure. We introduce set-based estimation offloading framework, for specific case navigation unicycle robot toward target position. is subject modeling measurement uncertainties, set calculated using overapproximation techniques that alleviate additional computations. A switching control mechanism provides accurate triggers more precise algorithms when needed. To guarantee convergence system optimize utilization resources, utility-based designed, which takes into account both dynamic network conditions available at edge. performance proposed framework demonstrated through simulations comparison with alternative schemes.