On the Use of the Observability Gramian for Partially Observed Robotic Path Planning Problems
arXiv:1801.09877 · doi:10.1109/CDC.2017.8263868
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.
6 pages, 9 figures. CDC 2017