On the Use of the Observability Gramian for Partially Observed Robotic Path Planning Problems
Robotics
2018-01-31 v1 Systems and Control
Abstract
Optimizing measures of the observability Gramian as a surrogate for the estimation performance may provide irrelevant or misleading trajectories for planning under observation uncertainty.
Keywords
Cite
@article{arxiv.1801.09877,
title = {On the Use of the Observability Gramian for Partially Observed Robotic Path Planning Problems},
author = {Mohammadhussein Rafieisakhaei and Suman Chakravorty and P. R. Kumar},
journal= {arXiv preprint arXiv:1801.09877},
year = {2018}
}
Comments
6 pages, 9 figures. CDC 2017