Optimal Scheduling of Multiple Spatiotemporally Dependent Observations for Remote Estimation Using Age of Information

Victor Wattin Håkansson, Naveen K.D. Venkategowda, Stefan Werner, Pramod K. Varshney

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


This article proposes an optimal scheduling policy for a system where spatiotemporally dependent sensor observations are broadcast to remote estimators over a resource-limited broadcast channel. We consider a system with a measurement-blind network scheduler that transmits observations, and design scheduling schemes that minimize mean squared error (MSE) by determining a subset of sensor observations to be broadcast based on their information freshness, as measured by their Age of Information (AoI). By modeling the problem as a finite state-space Markov decision process (MDP), we derive an optimal scheduling policy, with AoI as a state variable, minimizing the average MSE for an infinite time horizon. The resulting policy has a periodic pattern that renders an efficient implementation with low data storage. We further show that for any policy that minimizes the overall AoI, the estimation accuracy depends on how the scheduling order relates to the sensor's intrinsic spatial correlation. Consequently, the estimation accuracy varies from worse than a randomized scheduling approach to near optimal. Thus, we present an additional age-minimizing policy with optimal scheduling order. We also present alternative policies for large state spaces that are attainable with less computational effort. Numerical results validate the presented theory.

Original languageEnglish (US)
Pages (from-to)20308-20321
Number of pages14
JournalIEEE Internet of Things Journal
Issue number20
StatePublished - Oct 15 2022
Externally publishedYes


  • Age of Information (AoI)
  • remote estimation
  • resource-constrained networks
  • spatiotemporal correlation
  • wireless sensor networks (WSNs)

ASJC Scopus subject areas

  • Signal Processing
  • Information Systems
  • Hardware and Architecture
  • Computer Science Applications
  • Computer Networks and Communications


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