Observability-Aware Trajectory Optimization: Theory, Viability, and State of the Art

  title={Observability-Aware Trajectory Optimization: Theory, Viability, and State of the Art},
  author={Christopher Grebe and Emmett Wise and Jonathan Kelly},
  journal={2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
  • C. GrebeEmmett WiseJonathan Kelly
  • Published 18 September 2021
  • Computer Science
  • 2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)
Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a challenging problem that has been investigated from a variety of perspectives, ranging from information-theoretic analyses to leaning-based approaches. Recently, observability-based metrics have been proposed to find trajectories that enable rapid and accurate state and parameter estimation. The viability and efficacy… 

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