Nowadays robots are equipped with a great number of sensors, in order to increase their level of autonomy. Since analyzing the data coming from such devices is very resource demanding, cloud robotics was born to offload some of the heavy tasks, such as computing, memory and storage, to the cloud. Furthermore the availability of computational resources and the effort to manage these infrastructures is minimal. However, not all the software can be unloaded to the cloud due to latency requirements and to maintain a local autonomy. In fact, the robot may be affected by disconnections during an operation and, therefore, a minimum level of autonomy must be guaranteed on-board to maintain an adequate level of safety, as well as avoiding it being stuck in place.