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Scheduling for Distributed Sensor Networks



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Submitted Workshop on Information Processing in Sensor Networks IPSN 04 http www cds caltech edu murray papers 2003x gchm04 ipsn html Scheduling for Distributed Sensor Networks Vijay Gupta Timothy Chung Babak Hassibi and Richard M Murray Division of Engineering and Applied Science Caltech Pasadena CA 91125 USA gupta timothyc hassibi murray caltech edu Abstract We examine the problem of distributed estimation when only one sensor can take a measurement per time step The measurements are then exchanged among the sensors The problem is motivated by the use of sonar range finders used by the vehicles on the Caltech Multi Vehicle Wireless Testbed We solve for the optimal recursive estimation algorithm when the sensor switching schedule is given Then we investigate several approaches for determining an optimal sensor switching strategy We see that this problem involves searching a tree in general and propose and analyze two strategies for pruning the tree to keep the computation limited The first is a sliding window strategy motivated by the Viterbi algorithm and the second one uses thresholding We also study a technique that employs choosing the sensors randomly from a probability distribution which can then be optimized The performance of the algorithms are illustrated with the help of numerical examples 1 Introduction and Motivation Recently there has been a lot of interest in networks of sensing agents which act cooperatively to obtain the best estimate possible e g 1 and the references therein While such a scheme admittedly has higher complexity than the strategy of treating each sensor independently the increased accuracy often makes it worthwhile If all the sensors exchange their measurements the resulting estimate can be better even than the sensor with the least measurement noise were no information exchange happening The advantages of forming sensor networks are even greater if the sensors are heterogenous The increased complexity arises from the communication



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