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Optimal sensor scheduling for multiple linear dynamical systems
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2017 (English)In: Automatica, ISSN 0005-1098, Vol. 75, p. 260-270Article in journal (Refereed) Published
Abstract [en]

We consider the design of an optimal collision-free sensor schedule fora number of sensors which monitor different linear dynamical systems correspondingly. At each time, only one of all the sensors can send its local estimate to the remote estimator. A preliminary work for the two-sensor scheduling case has been studied in the literature. The generalization into multiple-sensor scheduling case is shown to be nontrivial. We first find a necessary condition of the optimal solution which can significantly reduce the feasible optimal solution space without loss of performance. By modelling a finite-state Markov decision process (MDP) problem, we can numerically search an asymptotic periodic schedule which is proven to be optimal. Some simple but effective suboptimal schedules for any systems are proposed. We also find a lower bound of the optimal cost, which enables us to quantify the performance gap between any suboptimal schedule and an optimal one.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 75, p. 260-270
Keywords [en]
Kalman filter, Medium access control, State estimation, Sensor scheduling
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-200402DOI: 10.1016/j.automatica.2016.09.015ISI: 000391077800034Scopus ID: 2-s2.0-84994618684OAI: oai:DiVA.org:kth-200402DiVA, id: diva2:1069064
Funder
Swedish Research CouncilKnut and Alice Wallenberg Foundation
Note

QC 20170127

Available from: 2017-01-27 Created: 2017-01-27 Last updated: 2017-01-27Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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