Hyeongmin Choe | Searcharxiv

arXiv2026

Scalable Sensor Scheduling for Continuous-Discrete Kalman Filtering via Information-Form Surrogate Dynamics

We study sensor scheduling for continuous-discrete Kalman filtering with Poisson measurement arrivals and propose an information-form deterministic surrogate for scalable offline design. Unlike the covariance-form surrogate, the sensing rates enter through sensor-specific additive information increments, eliminating mixed state-input derivatives in the transcribed nonlinear program and thereby yielding a simpler derivative structure. We further show that, together with the covariance-form surrogate, the proposed surrogate provides computable two-sided performance bounds for a given schedule under stochastic measurement arrivals. Numerical experiments demonstrate substantial computational savings, especially in many-sensor settings, while retaining comparable realized Monte Carlo performance and providing computable two-sided performance bounds for the returned schedule.

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arXiv2025

Advantages of Feedback in Distributed Data-Gathering for Accurate and Power-Efficient State-Estimation

In distributed target-tracking sensor networks, efficient data gathering methods are necessary to save communication resources and assure information accuracy. This paper proposes a Feedback (FB) distributed data-gathering method which lets the central unit feed information back to the mobile sensors; each sensor then uses it to cancel redundant transmissions and reduce communication congestion. We rigorously compare its performance, in terms of mean-squared error (MSE) and cost of power per sensor, against more conventional Non-Feedback (NF) architectures by evaluating conditions of feasibility and advantage under different architecture specifications (e.g., communication delay rate, power cost rate, maximum back-off time, sampling period, observation noise). Here, we defined the advantage as the performance gain achieved by FB over NF, while FB is said to be feasible if the advantage region is nonempty. Our theoretical analyses show that the feasibility of FB depends more on the communication power cost, while the advantage depends on the sensors' propagation delay per transmission interval; we derive concrete conditions under which these outcomes hold. Using extensive numerical simulations under a variety of settings, we confirm the accuracy of the derived conditions, and show that our theoretical results hold even for more complex scenarios where the simplifying assumptions no longer hold.

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