Before revision:  In this paper , we propose a safer respiratory rate monitoring system using a three-tier architecture : robot layers, edge layers, and cloud layers. We decompose the task into a three-tier architecture of a lightweight network according to the computing resources of different devices, including mobile robots, edges, and clouds. We deploy feature extraction tasks, Spatio-temporal feature tracking tasks, and signal extraction and preprocessing tasks to robot layers, edge layers, and cloud layers , respectively.
After revision:  In this paper , we propose a safer respiratory rate monitoring system using a three-tier architecture , including robot layers, edge layers, and cloud layers , respectively.