Embodiments determine an optimized maintenance schedule for a maintenance program that includes multiple levels, each level including at least one asset (i.e., asset type) and at least one of the levels including a plurality of assets. Embodiments receive historical failure data for each of the assets, the historical failure data generated at least in part by a sensor network. For each asset, embodiments generate a probability density function (“PDF”) using kernel density estimation (“KDE”). For each asset, based on a reliability rate threshold, embodiments determine a cumulative density function (“CDF”) using the PDF. For each asset, embodiments determine an optimized time to failure (“TTF”) using the CDF. Embodiments then create the schedule for each level that includes a minimum TTF for the assets at each level.