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The main goal is to compute a sensor trajectory that minimizes the estimation error over a given time horizon taking into account uncertainties in the observable dynamics and sensing, and respecting the constraints of the workspace. The main contribution is a methodology for handling arbitrary dynamics, noise models, and environment constraints in a global optimization framework. It is based on sequential Monte Carlo methods and sampling-based motion planning. Three variance reduction techniques\u2013utility sampling, shuffling, and pruning\u2013based on importance sampling, are proposed to speed up convergence. The developed framework is applied to two typical scenarios: a simple vehicle operating in a planar polygonal obstacle environment and a simulated helicopter searching for a moving target in a 3-D terrain. <\/jats:p>","DOI":"10.1177\/0278364911423558","type":"journal-article","created":{"date-parts":[[2011,10,22]],"date-time":"2011-10-22T01:15:02Z","timestamp":1319246102000},"page":"24-41","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Global estimation in constrained environments"],"prefix":"10.1177","volume":"31","author":[{"given":"Marin","family":"Kobilarov","sequence":"first","affiliation":[{"name":"California Institute of Technology, Pasadena, CA, USA"}]},{"given":"Jerrold E","family":"Marsden","sequence":"additional","affiliation":[{"name":"California Institute of Technology, Pasadena, CA, USA"}]},{"given":"Gaurav S","family":"Sukhatme","sequence":"additional","affiliation":[{"name":"University of Southern California, Los Angeles, CA, USA"}]}],"member":"179","published-online":{"date-parts":[[2011,10,21]]},"reference":[{"key":"bibr1-0278364911423558","doi-asserted-by":"publisher","DOI":"10.2514\/6.2008-6322"},{"key":"bibr2-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-008-9303-9"},{"key":"bibr3-0278364911423558","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2005.I.015"},{"key":"bibr4-0278364911423558","first-page":"1","volume-title":"2006 9th International Conference on Information Fusion","author":"Celeste F","year":"2007"},{"volume-title":"Principles of Robot Motion: Theory, Algorithms, and Implementations","year":"2005","author":"Choset H","key":"bibr5-0278364911423558"},{"key":"bibr6-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364155"},{"volume-title":"Nonsmooth Analysis and Control Theory","year":"1998","author":"Clarke FH","key":"bibr7-0278364911423558"},{"key":"bibr8-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-77457-0_47"},{"key":"bibr9-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1998.724838"},{"key":"bibr10-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4684-9393-1"},{"key":"bibr11-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-3437-9"},{"key":"bibr12-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363590"},{"key":"bibr13-0278364911423558","doi-asserted-by":"publisher","DOI":"10.2514\/2.4856"},{"key":"bibr14-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.852260"},{"key":"bibr15-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543567"},{"key":"bibr16-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1145\/237170.237244"},{"key":"bibr17-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241807"},{"key":"bibr18-0278364911423558","first-page":"1814","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"He R","year":"2008"},{"key":"bibr19-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1109\/4235.930309"},{"key":"bibr20-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2034206"},{"key":"bibr21-0278364911423558","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2009.V.034"},{"key":"bibr22-0278364911423558","doi-asserted-by":"publisher","DOI":"10.1177\/027836402320556421"},{"key":"bibr23-0278364911423558","unstructured":"Kobilarov M (2008) Discrete Geometric Motion Control of Autonomous Vehicles. 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