Minimizing the Age of Information from Sensors with Common Observations

We study the average Age of Information (AoI) in a system where physical sources produce independent discrete-time updates that are each observed by several sensors. We devise a model that is simple, but still capable to capture the main tradeoffs. Two sensor scheduling policies are proposed to minimize the AoI of the sources; one in which the system parameters are assumed known, and one in which they are learned. Both policies are able to exploit the common sensor information to reduce the AoI, resulting in large reductions in AoI compared to common schedules

Multisensor Poisson Multi-Bernoulli Filter for Joint Target-Sensor State Tracking

In a typical multitarget tracking (MTT) scenario, the sensor state is either assumed known, or tracking is performed in the sensor's (relative) coordinate frame. This assumption does not hold when the sensor, e.g., an automotive radar, is mounted on a vehicle, and the target state should be represented in a global (absolute) coordinate frame. Then it is important to consider the uncertain location of the vehicle on which the sensor is mounted for MTT. In this paper, we present a multisensor low complexity Poisson multi-Bernoulli MTT filter, which jointly tracks the uncertain vehicle state and target states. Measurements collected by different sensors mounted on multiple vehicles with varying location uncertainty are incorporated sequentially based on the arrival of new sensor measurements. In doing so, targets observed from a sensor mounted on a well-localized vehicle reduce the state uncertainty of other poorly localized vehicles, provided that a common non-empty subset of targets is observed. A low complexity filter is obtained by approximations of the joint sensor-feature state density minimizing the Kullback-Leibler divergence (KLD). Results from synthetic as well as experimental measurement data, collected in a vehicle driving scenario, demonstrate the performance benefits of joint vehicle-target state tracking.Comment: 13 pages, 7 figure