Resource Optimization in MEC-Assisted Multirobot Cooperation Systems

Algorithm 1

An optimal resource allocation scheme.

Initialize: System parameters, MR and BS; set ; set as the number of executed tasks.

While: MRC system can complete task, i.e., problem (P1) has a feasible solution: The Interior Point Method applied to the (SP1) to obtain the globally optimal solution . And BCD method is used to solve the (SP2) to obtain the globally optimal solution ; Gradient Descent (GD) method is applied to update parameters ; jump to step 4 until convergence; compute total energy consumption of SRs, and update , which represents the remaining energy of each SR after processing the current task; similarly, get the optimal solution by solving the (P2) using BCD method; compute energy consumption at the MR, and ; update .