Optimal sensor scheduling for hybrid estimation

A sensor scheduling problem was considered for a class of hybrid systems named as the stochastic linear hybrid system (SLHS). An algorithm was proposed to select one (or a group of) sensor at each time from a set of sensors. Then, a hybrid estimation algorithm was designed to compute the estimates of the continuous and discrete states of the SLHS based on the observations from the selected sensors. As the sensor scheduling algorithm is designed such that the Bayesian decision risk is minimized, the true discrete state can be better identified. Moreover, the continuous state estimation performance of the proposed algorithm is better than that of hybrid estimation algorithms using only predetermined sensors. Finally, the algorithms are validated through an illustrative target tracking example.