Scheduling for Distributed Sensor Networks with Single Sensor Measurement per Time Step

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Timothy Chung, Vijay Gupta, Babak Hassibi, Joel Burdick, Richard M. Murray
Submitted, 2004 International Conference on Robotics and Automation

Abstract—We examine the problem of distributed estimation when only one sensor can take a measurement per time step. We solve for the optimal recursive estimation algorithm when the sensor switching schedule is given. We then consider the effect of noise in communication channels. We also investigate the problem of determining an optimal sensor switching strategy. We see that this problem involves searching a tree in general and propose two strategies for pruning the tree to minimize the computation. The first is a sliding window strategy motivated by the Viterbi algorithm, and the second one uses thresholding. The performance of the algorithms is illustrated using numerical examples.