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— This work addresses the problem of state estimation for an autonomous flying vehicle using an optic flow approach motivated by the visuomotor system of insects. We investigate the minimum number of optic flow sensors and the sensor configuration necessary to have an observable system. The system dynamics linearized about a point are not observable, but a… (More)

— Given a network, we would like to determine which subset of nodes should be measured by limited sensing facilities to maximize information about the entire network. The optimal choice corresponds to the configuration that returns the highest value of a measure of observability of the system. Here, the determinant of the inverse of the observability… (More)

This paper is concerned with the design of a constrained optimal control of finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem which specifically considers the observability of the obtained solution, while the stability of the closed loop system is guaranteed. In this paper, a cost function is introduced… (More)

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