@ARTICLE{7403967, 
author={L. Wang and M. Liu and M. Q. H. Meng}, 
journal={IEEE Transactions on Cybernetics}, 
title={A Hierarchical Auction-Based Mechanism for Real-Time Resource Allocation in Cloud Robotic Systems}, 
year={2017}, 
volume={47}, 
number={2}, 
pages={473-484}, 
keywords={cloud computing;mobile robots;multi-robot systems;resource allocation;LQM auction;ad hoc networks;cloud computing framework;cloud robotic systems;cooperative control;dynamic structure;hierarchical auction-based mechanism;joint surveillance scenario;link quality indicator;link quality matrix;multirobotic applications;physical multirobot systems;real-time resource allocation;real-time resource retrieval;resource-constrained environments;robots;Ad hoc networks;Cloud computing;Real-time systems;Resource management;Robot kinematics;Robot sensing systems;Cloud robotics;hierarchical auction;real-time resource allocation}, 
doi={10.1109/TCYB.2016.2519525}, 
ISSN={2168-2267}, 
month={Feb},}