## Abstract

The choice of 'where to look next' is a special case of an optimal experiment design. This paper proposes the tolerance-optimal experiment design, which is a special instance of the well-known L-optimal design, that minimizes the weighted trace of the covariance matrix of the estimatedstate under Gaussian assumptions. The weighting matrix is chosen such that the design is invariant to transformations with non-singular Jacobians, and such that the emerging sensing sequence reflects the information needs of the task. This tolerance-optimal design does not require more calculationsthan existing optimal experiment designs. Existing optimal experiment designs do not reflect the information needs of the task. In addition, some of them physically do not make sense if the estimated state has inconsistent units.

Original language | English |
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Pages (from-to) | 401-416 |

Number of pages | 16 |

Journal | Advanced Robotics |

Volume | 13 |

Issue number | 4 |

DOIs | |

State | Published - 1 Jan 1998 |

## ASJC Scopus subject areas

- Control and Systems Engineering
- Software
- Human-Computer Interaction
- Hardware and Architecture
- Computer Science Applications