Age of Information Guaranteed Scheduling for Asynchronous Status Updates in Collaborative Perception

TL;DR

This paper introduces SCPA, a scheduling algorithm for collaborative perception systems that guarantees age of information constraints for asynchronous updates, optimizing channel usage.

Contribution

The paper proposes SCPA, an algorithm that minimizes channel requirements while satisfying AoI constraints in asynchronous multi-source perception systems.

Findings

SCPA requires only 12% more channels than the theoretical lower bound.

SCPA effectively schedules asynchronous updates to meet AoI constraints.

Numerical results validate the efficiency of the proposed scheduling algorithm.

Abstract

We consider collaborative perception (CP) systems where a fusion center monitors various regions by multiple sources. The center has different age of information (AoI) constraints for different regions. Multi-view sensing data for a region generated by sources can be fused by the center for a reliable representation of the region. To ensure accurate perception, differences between generation time of asynchronous status updates for CP fusion should not exceed a certain threshold. An algorithm named scheduling for CP with asynchronous status updates (SCPA) is proposed to minimize the number of required channels and subject to AoI constraints with asynchronous status updates. SCPA first identifies a set of sources that can satisfy the constraints with minimum updating rates. It then chooses scheduling intervals and offsets for the sources such that the number of required channels is optimized. According to numerical results, the number of channels required by SCPA can reach only 12% more than a derived lower bound.