arXiv:1801.09877
On the Use of the Observability Gramian for Partially Observed Robotic Path Planning Problems
On the Use of the Observability Gramian for Partially Observed Robotic Path Planning Problems
著者: Mohammadhussein Rafieisakhaei, Suman Chakravorty, P. R. Kumar
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Optimizing measures of the observability Gramian as a surrogate for the estimation performance may provide irrelevant or misleading trajectories for planning under observation uncertainty.