On the trade-off between event-based and periodic state estimation under bandwidth constraints

Event-based methods carefully select when to transmit information to enable high-performance control and estimation over resource-constrained communication networks. However, they come at a cost. For instance, event-based communication induces a higher computational load and increases the complexity of the scheduling problem. Thus, in some cases, allocating available slots to agents periodically in circular order may be superior. In this article, we discuss, for a specific example, when the additional complexity of event-based methods is beneficial. We evaluate our analysis in a synthetical example and on 20 simulated cart-pole systems.