  In this paper, we consider a set of agents, which may receive an observation
of their state by a central observa- tion post via a shared wireless network.
The aim of this work is to design a scheduling mechanism for the central
observation post to decide how to allocate the available communication
resources. The problem is tackled in two phases: (i) first, the local
controllers are designed so as to stabilise the subsystems for the case of
perfect communication; (ii) second, the com- munication schedule is decided
with the aim of maximising the stability of the subsystems. To this end, we
formulate an optimisation problem which explicitly minimises the Lyapunov
function increase due to communication limitations. We show how the proposed
optimisation can be expressed in terms of Value of Information (VoI), we prove
Lyapunov stability in probability and we test our approach in simulations.
