On the Use of the Observability Gramian for Partially Observed Robotic Path Planning Problems

This addresses a potential pitfall for researchers and practitioners in robotics and control systems, but it is incremental as it critiques an existing method rather than introducing a new one.

The paper tackled the problem of using the observability Gramian as a surrogate for estimation performance in robotic path planning under observation uncertainty, finding that this approach can lead to irrelevant or misleading trajectories.