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

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Jan 30, 2018
Mohammadhussein Rafieisakhaei, Suman Chakravorty, P. R. Kumar
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Optimizing measures of the observability Gramian as a surrogate for the estimation performance may provide irrelevant or misleading trajectories for planning under observation uncertainty.

* 2017 IEEE 56th Annual Conference on Decision and Control (CDC)  * 6 pages, 9 figures. CDC 2017  
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