Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Observability-Aware Trajectory Optimization: Theory, Viability, and
  State of the Art   Ideally, robots should move in ways that maximize the knowledge gained about
the state of both their internal system and the external operating environment.
Trajectory design is a challenging problem that has been investigated from a
variety of perspectives, ranging from information-theoretic analyses to
leaning-based approaches. Recently, observability-based metrics have been
proposed to find trajectories that enable rapid and accurate state and
parameter estimation. The viability and efficacy of these methods is not yet
well understood in the literature. In this paper, we compare two
state-of-the-art methods for observability-aware trajectory optimization and
seek to add important theoretical clarifications and valuable discussion about
their overall effectiveness. For evaluation, we examine the representative task
of sensor-to-sensor extrinsic self-calibration using a realistic physics
simulator. We also study the sensitivity of these algorithms to changes in the
information content of the exteroceptive sensor measurements.

21
The categories of this paper are: adap-org
16
The categories of this paper are: stat
19
The categories of this paper are: eess
23
The categories of this paper are: solv-int
12
The categories of this paper are: nucl-th
4
The categories of this paper are: cond-mat
17
The categories of this paper are: q-fin
36
The categories of this paper are: cmp-lg
8
The categories of this paper are: hep-ex
5
The categories of this paper are: gr-qc
9
The categories of this paper are: nlin
33
The categories of this paper are: plasm-ph
10
The categories of this paper are: q-bio
3
The categories of this paper are: physics
18
The categories of this paper are: econ
32
The categories of this paper are: atom-ph