Sensor Scheduling in Variance Based Event Triggered Estimation With Packet Drops

DOI10.1109/TAC.2016.2602499zbMATH Open1366.90108arXiv1511.04792OpenAlexW2963165507MaRDI QIDQ5282430FDOQ5282430

Daniel E. Quevedo, Subhrakanti Dey, Alex S. Leong

Publication date: 27 July 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: This paper considers a remote state estimation problem with multiple sensors observing a dynamical process, where sensors transmit local state estimates over an independent and identically distributed (i.i.d.) packet dropping channel to a remote estimator. At every discrete time instant, the remote estimator decides whether each sensor should transmit or not, with each sensor transmission incurring a fixed energy cost. The channel is shared such that collisions will occur if more than one sensor transmits at a time. Performance is quantified via an optimization problem that minimizes a convex combination of the expected estimation error covariance at the remote estimator and expected energy usage across the sensors. For transmission schedules dependent only on the estimation error covariance at the remote estimator, this work establishes structural results on the optimal scheduling which show that 1) for unstable systems, if the error covariance is large then a sensor will always be scheduled to transmit, and 2) there is a threshold-type behaviour in switching from one sensor transmitting to another. Specializing to the single sensor case, these structural results demonstrate that a threshold policy (i.e. transmit if the error covariance exceeds a certain threshold and don't transmit otherwise) is optimal. We also consider the situation where sensors transmit measurements instead of state estimates, and establish structural results including the optimality of threshold policies for the single sensor, scalar case. These results provide a theoretical justification for the use of such threshold policies in variance based event triggered estimation. Numerical studies confirm the qualitative behaviour predicted by our structural results. An extension of the structural results to Markovian packet drops is also outlined.

Full work available at URL: https://arxiv.org/abs/1511.04792

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Estimation and detection in stochastic control theory (93E10) Stochastic scheduling theory in operations research (90B36)

Cited In (19)

• Event-triggered control of systems with sector-bounded nonlinearities and intermittent packet transmissions
• Sparse sensor selection for distributed systems: an \(l_1\)-relaxation approach
• Transmission power allocation for remote estimation with multi-packet reception capabilities
• A dynamically event-triggered approach to recursive filtering with censored measurements and parameter uncertainties
• Transmission scheduling for remote state estimation and control with an energy harvesting sensor
• Event-triggered fusion estimation under bounded noises
• Event-triggered state estimation for networked control systems with lossy network communication
• Event-triggered remote state estimation for cyber-physical systems under malicious DoS attacks
• Remote state estimation with usage-dependent Markovian packet losses
• Event-triggered risk-sensitive smoothing for linear Gaussian systems
• Performance analysis of stochastic event-triggered estimator with compressed measurements
• Transmission scheduling for multi-process multi-sensor remote estimation via approximate dynamic programming
• Event-triggered recursive state estimation for dynamical networks under randomly switching topologies and multiple missing measurements
• Deep reinforcement learning for wireless sensor scheduling in cyber-physical systems
• Multi-hop sensor network scheduling for optimal remote estimation
• Event-triggered observer design for linear systems subject to delayed and sampled output
• Event-triggered remote state estimation over a collision channel with incomplete information
• Encryption scheduling for remote state estimation under an operation constraint
• Optimal scheduling of multiple sensors over shared channels with packet transmission constraint

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