Consistent Stochastic Event-based Estimation Under Packet Losses Using Low-Cost Sensors

Reliably monitoring the environment with dis-tributed sensors is a necessity for many modern automation tasks such as automated driving. However, the growing demand for communications resources can hardly be fulfilled in the future without a paradigm shift in resource utilization. One way to leverage the burden on the communications system is to transmit data in an event-based fashion rather than periodically at a high rate. Several event-based triggers and estimators have been proposed in the past. Unfortunately, the event-based schemes are often sensitive to imperfections in the communications system such as packet losses. To ensure reliable estimates under packet losses, a new stochastic event-based scheme is proposed that uses the transmission probability of the trigger as an additional periodic information source in the estimator on the receiver side. The effectiveness of the approach is evaluated in simulation using different packet loss models.