Multi-attribute, energy optimal sensor fusion

Observations are reported which have multiple components: temperature, humidity, light, sound, presence. Observations are timestamped. The value of the observations decreases with their age, and increase with their spatial and temporal resolution.

Sensors can delay the sending of the observation to save energy by buffering. They can also fuse observations together in the temporal and spatial domain.

Objective: implement a sensor fusion and buffering algorithm which implements optimizes the value of transmitted observations for a fixed energy budget.

Implement it using the YAES simulator and perform comparative studies.