Cloud robotics can largely enhance the robot intelligence by offloading tasks to the cloud dynamically. However, the robots differ in\ntheir own hardware configuration such as battery and processing capacity, while the transmission frames are also a mixture of\ndifferent quality of service (QoS) requirements. As the competition for limited channel resource is inevitable, how to optimize\nthe system performance by effective resource allocation is a key problem. The paper proposes a two-tier hierarchical-based\nMAC (Two-Tier MAC) which means the classification exists not only in frames but also in robots. The Lyapunov optimization\ntechnique is used to maximize the time-averaged quality satisfaction. The experiments show the superior performance of the\nTwo-Tier MAC compared with other MAC protocols especially in overloaded networks. Meanwhile, the system also presents a\nlonger lifetime because the Two-Tier MAC takes energy balance into consideration.
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