We consider the minimization of the cost of actuation error under resource constraints for real-time tracking in wireless autonomous systems. A transmitter monitors the state of a discrete random process and sends updates to the receiver over an unreliable wireless channel. The receiver takes actions according to the estimated state of the source. For each discrepancy between the real state of the source and the estimated one, we consider a different cost of actuation error. This models the case where some states, and consequently the corresponding actions to be taken, are more important than others. We provide two algorithms: one reaching an optimal solution but of high complexity, and one providing a suboptimal solution but with low complexity. The performance of the two algorithms are quite close as shown by the simulations.

翻译：我们考虑了无线自主系统实时跟踪中在资源约束下最小化执行误差成本的问题。发射机监测离散随机过程的状态，并通过不可靠的无线信道向接收机发送更新信息。接收机根据信源估计状态采取行动。针对信源真实状态与估计状态之间的每个差异，我们考虑了不同的执行误差成本。这模拟了某些状态（以及相应需采取的行动）比其他状态更为重要的情况。我们提出了两种算法：一种能获得最优解但复杂度较高，另一种能获得次优解但复杂度较低。仿真结果表明，两种算法的性能非常接近。