Scheduling
for Distributed Sensor Networks with Single Sensor Measurement per Time
Step
-- Timothy
Chung, Vijay Gupta, Babak Hassibi, Joel Burdick and
Richard M. Murray, IEEE International Conference
on Robotics and Automation, 2004 ICRA '04. Volume 1,
2004 Page(s):187 - 192.
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.
conference submission
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