Nowadays, robotics applications requiring the execution of complex tasks in real-world scenarios are still facing many challenges related to highly unstructured and dynamic environments in domains such as emergency response and search and rescue where robots have to operate for prolonged periods trading off computational performance with increased power autonomy and vice versa. In particular, there is a crucial need for robots capable of adapting to such settings while at the same time providing robustness and extended power autonomy. A possible approach to overcome the conflicting demand of a computational performing system with the need for long power autonomy is represented by cloud robotics, which can boost the computational capabilities of the robot while reducing the energy consumption by exploiting the offload of resources to the cloud. Nevertheless, the communication constraint due to limited bandwidth, latency, and connectivity, typical of field robotics, makes cloud-enabled robotics solutions challenging to deploy in real-world applications. In this context, we designed and realized the XBot2D software architecture, which provides a hybrid cloud manager capable of dynamic
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