Distributed Computation and Dynamic Load balancing in Modular Edge Robotics

摘要

As the task complexity that robots can handle increases, the importance of coordination among multiple robots to accomplish a task has grown significantly. Existing research has primarily focused on developing a modular network topology, or a communication protocol solely focused on data communication but largely ignoring load-balancing optimizations. We discuss the existing modular robotic architectures, compare them in data and load sharing and propose a new load balancing protocol. Our load balancing system is based on having modular robotic clusters that work together by sharing resources through Kubernetes. This system improves reliability through information sharing, shared hardware resources among the robots, and scalability, allowing the architecture to expand based on need.