{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,30]],"date-time":"2026-09-30T03:18:21Z","timestamp":1790738301126,"version":"4.1.0"},"reference-count":49,"publisher":"SAGE Publications","issue":"13-14","license":[{"start":{"date-parts":[[2018,8,2]],"date-time":"2018-08-02T00:00:00Z","timestamp":1533168000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2018,12]]},"abstract":"<jats:p>We describe a trajectory optimization framework that maximizes observability of one or more user-chosen states in a nonlinear system. Our framework is based on a novel metric for quality of observability that is state-estimator agnostic and offers improved numerical stability over prior methods in some cases where the states of interest do not appear directly in the observation. We apply this metric to trajectory optimization problems for closed-loop self-calibration, maintaining observability while navigating through an environment, and rapidly modifying an already-planned trajectory for online recalibration. We include a statistical procedure to balance observability of several states with heterogeneous units and magnitudes. As an example, we apply our framework to online calibration of GPS\u2013IMU and visual\u2013inertial navigation systems on a quadrotor helicopter. Extensive simulations and a real-robot experiment demonstrate the effectiveness of our framework, showing better convergence of the states and the resulting higher precision in navigation.<\/jats:p>","DOI":"10.1177\/0278364918781734","type":"journal-article","created":{"date-parts":[[2018,8,2]],"date-time":"2018-08-02T07:18:36Z","timestamp":1533194316000},"page":"1573-1594","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":23,"title":["Simultaneous self-calibration and navigation using trajectory optimization"],"prefix":"10.1177","volume":"37","author":[{"given":"James A","family":"Preiss","sequence":"first","affiliation":[{"name":"University of Southern California, Los Angeles, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Karol","family":"Hausman","sequence":"additional","affiliation":[{"name":"University of Southern California, Los Angeles, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gaurav S","family":"Sukhatme","sequence":"additional","affiliation":[{"name":"University of Southern California, Los Angeles, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stephan","family":"Weiss","sequence":"additional","affiliation":[{"name":"Institute of Smart System Technologies, Alpen-Adria-Universitat Klagenfurt, Klagenfurt, Austria"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2018,8,2]]},"reference":[{"key":"bibr1-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631130"},{"key":"bibr2-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989453"},{"key":"bibr3-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696728"},{"key":"bibr4-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1287\/moor.18.2.255"},{"key":"bibr5-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1111\/rssb.12162"},{"key":"bibr6-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1987.1104658"},{"key":"bibr7-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980508"},{"key":"bibr8-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2008.4517003"},{"key":"bibr9-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1016\/0168-9274(95)00108-5"},{"key":"bibr10-0278364918781734","author":"Costante G","year":"2016","journal-title":"Preprint arXiv:1605.04151"},{"key":"bibr11-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-16595-0_7"},{"key":"bibr12-0278364918781734","volume-title":"Real-time trajectory generation for constrained nonlinear dynamical systems using non-uniform rational b-spline basis functions","author":"Flores ME","year":"2008"},{"key":"bibr13-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915602321"},{"key":"bibr14-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2647799"},{"key":"bibr15-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1977.1101601"},{"key":"bibr16-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139507"},{"key":"bibr17-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913509675"},{"key":"bibr18-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2013.6580494"},{"key":"bibr19-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2013.6580031"},{"key":"bibr20-0278364918781734","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2013.IX.051"},{"key":"bibr21-0278364918781734","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914561102"},{"key":"bibr22-0278364918781734","unstructured":"Joy KI (2000) Bernstein polynomials. 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