COP: Control & Observability-aware Planning
Christoph Böhm,Pascal Brault,Quentin Delamare,Paolo Robuffo Giordano,Stephan Weiss,Christoph Böhm,Pascal Brault,Quentin Delamare,Paolo Robuffo Giordano,Stephan Weiss
In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly op-posite optimization objectives can be used to improve trajectory control tracking and, at the same time, estimation performance. Our proposed novel Control & Observability-aware Planning (COP) framework is the first that uses ...
