“…By contrast, the work presented here focuses on influencing the underlying effort invested by the participating sensors in order to improve the quality of estimates determined by averaging. This paper is closer, in essence, to the studies in (Chen, Gupta, and Huang, 2016;Dobakhshari, Li, and Gupta, 2016;Gao et al, 2015;Han, Zhang, Luo, Hu, and Veeravalli, 2016;Koutsopoulos, 2013;Luo, Tan, and Xia, 2014;Westenbroek, Dong, Ratliff, and Sastry, 2017;Yang, Xue, Fang, and Tang, 2012;Zhao et al, 2014), where the sensors are assumed to incur a cost that is proportional to the time or the energy dedicated to a sensing task. How-ever, those studies differ in several ways from the framework formulated in this paper.…”