State Estimation Over a Network: Packet-dropping Analysis and Design

In this paper, we consider discrete-time state estimation over a network. Two scenarios are investigated. In the first scenario, we assume the sensor sends its measurement packet across a packet-dropping network, and we find minimum packet arrival rate that guarantees certain performance at the remote estimator. In the second scenario, we assume the network does not drop any data packet but the sensor has the freedom to send its current measurement data or not. We look for the optimal measurement data sending rate at the sensor which provides the optimal tradeoff between the sending cost at the sensor and the error at the estimator. Examples are provided to illustrate the theories and algorithms developed