On the Use of the Observability Gramian for Partially Observed Robotic Path Planning Problems**This material is based upon work partially supported by NSF under Contract Nos. CNS-1646449 and Science & Technology Center Grant CCF-0939370 Conference Paper uri icon


  • © 2017 IEEE. Optimizing measures of the observability Gramian as a surrogate for the estimation performance may provide irrelevant or misleading trajectories for planning under observation uncertainty.

altmetric score

  • 1

author list (cited authors)

  • Rafieisakhaei, M., Chakravorty, S., & Kumar, P. R.

citation count

  • 2

publication date

  • December 2017