ObservabilityAware Trajectory Optimization for SelfCalibration with Application to UAVs

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We study the nonlinear observability of a system’s states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware trajectory-optimization framework for nonlinear systems that produces trajectories well suited for self-calibration. Our method reasons about the quality of observability while respecting system dynamics and motion constraints to yield the optimal trajectory for rapid convergence of the self-calibration states (or other user-chosen 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