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The authors previously presented a model for some Wireless Sensor and Actuator Network (WSAN) applications based on the vector space tools of frame theory. In this WSAN model there is a weight associated to each sensor-actuator link denoting the importance of that communication link to the actuation fidelity. These weights were shown to be useful in pruning away communication links to reduce the number of active channels. Inspired by recent work in power scheduling for decentralized estimation, the authors investigate the optimal allocation of system resources for achieving desired actuation fidelity. In this scheme, each sensor acquires a noisy observation and sends a message to a subset of actuators using an MQAM transmission strategy.
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