Event based sampling in non-linear filtering

Most of the existing approaches to estimation and control are based on the premise that regular sampling is used. However, in some applications, there exists strong motivation to use “event” rather than “time” based sampling. For example, in sensor networks, it is often desirable to send data only when “something interesting” happens. This paper explores some of the issues involved in event based sampling in the context of non-linear filtering. Several examples are presented to illustrate the ideas.