Observability-Aware Trajectory Optimization for Self-Calibration With Application to UAVs.

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 w...