Observer path planning for maximum information

This paper is concerned with finding an optimal path for observer, or sensor, moving at a constant speed, which to estimate the position of stationary target, using only bearing angle measurements. The generated in sense that, along path, information, and thus efficiency potential estimator employed, maximized. In other words, observer deemed if it maximizes information so that location target estimated smallest uncertainty, some sense. We formulate this problem as control maximizing determinant Fisher matrix, one possible measures information. derive analytical results optimality Maximum Principle. carry out numerical experiments discuss multiple (locally) solutions obtained. verify graphically necessary conditions are verified by solutions. Finally we provide comprehensive list extensions future work.