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

Mohammadhussein Rafieisakhaei; P. R. Kumar; Suman Chakravorty

arxiv: 1801.09877 · v1 · pith:DNEGXSSQnew · submitted 2018-01-30 · 💻 cs.RO · cs.SY

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

Mohammadhussein Rafieisakhaei , Suman Chakravorty , P. R. Kumar This is my paper

classification 💻 cs.RO cs.SY

keywords gramianobservabilityplanningestimationirrelevantmeasuresmisleadingobservation

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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.

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

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