  Event-based methods carefully select when to transmit information to enable
high-performance control and estimation over resource-constrained communication
networks. However, they come at a cost. For instance, event-based communication
induces a higher computational load and increases the complexity of the
scheduling problem. Thus, in some cases, allocating available slots to agents
periodically in circular order may be superior. In this article, we discuss,
for a specific example, when the additional complexity of event-based methods
is beneficial. We evaluate our analysis in a synthetical example and on 20
simulated cart-pole systems.
