We consider collaborative perception (CP) systems where a fusion center monitors various regions by multiple sources. The center has different age of information (AoI) constraints for different regions. Multi-view sensing data for a region generated by sources can be fused by the center for a reliable representation of the region. To ensure accurate perception, differences between generation time of asynchronous status updates for CP fusion should not exceed a certain threshold. An algorithm named scheduling for CP with asynchronous status updates (SCPA) is proposed to minimize the number of required channels and subject to AoI constraints with asynchronous status updates. SCPA first identifies a set of sources that can satisfy the constraints with minimum updating rates. It then chooses scheduling intervals and offsets for the sources such that the number of required channels is optimized. According to numerical results, the number of channels required by SCPA can reach only 12% more than a derived lower bound.

翻译：本文考虑协作感知系统，其中融合中心通过多个信源监控不同区域。融合中心对不同区域具有不同的信息年龄约束。信源生成的针对某一区域的多视角传感数据可由融合中心进行融合，以获取该区域的可靠表示。为确保感知准确性，用于协作感知融合的异步状态更新之间生成时间的差异不应超过特定阈值。提出一种名为异步状态更新协作感知调度的算法，以最小化所需信道数量，并满足异步状态更新的信息年龄约束。该算法首先识别一组能以最小更新速率满足约束的信源，随后为这些信源选择调度间隔和偏移量，以优化所需信道数量。数值结果表明，SCPA所需的信道数量仅比推导出的下界高12%。