3 years ago

On the Use of the Observability Gramian for Partially Observed Robotic Path Planning Problems.

P. R. Kumar, Suman Chakravorty, Mohammadhussein Rafieisakhaei

Optimizing measures of the observability Gramian as a surrogate for the estimation performance may provide irrelevant or misleading trajectories for planning under observation uncertainty.

Publisher URL: http://arxiv.org/abs/1801.09877

DOI: arXiv:1801.09877v1

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