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Data dissemination protocols in cyber-physical systems must consider the importance of data packets in protocol decisions. Importance of data cannot generally be accurately represented by a static priority value or deadline, but rather must stem from the dynamic state of the physical world. This paper presents a novel congestion control scheme for data collection applications that makes two key contributions. First, packet importance is measured by data contributions to the accuracy of estimating the monitored physical phenomenon. This leads to congestion control that minimizes estimation error. Second, the authors' protocol employs a novel mechanism, i.e. spatial aggregation, in addition to temporal aggregation to control congestion. The protocol is generalized to multiple concurrent applications.
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