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

arXiv: https://arxiv.org/abs/1801.09877 · HTML: https://mlsanity.com/paper/1801.09877/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Jan 2018.

## Built on by (most cited first, 1 of 1)

- [Observability conditions for neural state-space models with eigenvalues and their roots of unity](https://mlsanity.com/paper/2504.15758/) (2025)

## Abstract (arXiv)

Optimizing measures of the observability Gramian as a surrogate for the estimation performance may provide irrelevant or misleading trajectories for planning under observation uncertainty.