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
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© 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.
author list (cited authors)
Rafieisakhaei, M., Chakravorty, S., & Kumar, P. R.