Power-Distortion Metrics for Path Planning Over Gaussian Sensor Networks

Path planning is an important component of autonomous mobile sensing systems. This paper studies upper and lower bounds of communication performance over Gaussian sensor networks, to drive power-distortion metrics for path planning problems. The Gaussian multiple-access channel is employed as a channel model and two source models are considered. In the first setting, the underlying source is estimated with minimum mean-squared-error, while in the second, reconstruction of a random spatial field is considered. For both problem settings, the upper and the lower bounds of sensor power-distortion curve are derived. For both settings, the upper bounds follow from the amplify-and-forward scheme and the lower bounds admit a unified derivation based on data processing inequality and tensorization property of the maximal correlation measure. Next, closed-form solutions of the optimal power allocation problems are obtained under a weighted sum-power constraint. The gap between the upper and the lower bounds is analyzed for both weighted sum and individual power constrained settings. Finally, these metrics are used to drive a path planning algorithm and the effects of power-distortion metrics, network parameters, and power optimization on the optimized path selection are analyzed.