When Mean Age Is Not Enough: Distribution-Aware Scheduling for Networked LQR Control

Published June 30, 2026 · Category: Robotics

Overview

arXiv:2606.04361v2 Announce Type: replace-cross Abstract: Age of Information (AoI) has become a central metric for the design of wireless update systems, especially in applications where fresh measurements support tracking, estimation, and control. Despite its popularity, the use of mean AoI or peak AoI as a surrogate for closed-loop performance is often motivated by intuition rather than by a control-theoretic derivation. This paper examines whether minimizing the mean AoI is in fact optimal for networked control systems. For scalar linear time-invariant systems with delayed intermittent updates, we show that, under state-independent scheduling policies, the infinite-horizon LQR tracking problem reduces to an optimization over the distribution of inter-scheduling intervals. The resulting objective depends on higher-order statistical moments, and in unstable or correlated regimes on exponential moments, of the inter-scheduling process rather than only on its mean. Consequently, policies with identical mean AoI can induce substantially different tracking costs. We further extend the analysis to disturbances with exponentially decaying autocorrelation and derive equivalent cost formulations that expose the role of the full interval distribution. Finally, we evaluate the theory using real vehicle trajectories from the NGSIM US-101 dataset. The empirical results match the predicted performance trends, demonstrating that mean AoI alone is insufficient for control-oriented network design.

Source

Originally published at arxiv.org.

Related Articles

• You Only Touch Once: 6-DoF Object Pose Estimation from Single Tactile Contact
• The Speedup Paradox: Rethinking Inference Speed-Quality Trade-off in Embodied Tasks
• X-Morph: Human Motion Priors for Scalable Robot Learning Across Morphologies