Randomized Sensor Selection for Nonlinear Systems With Application to Target Localization

Given a nonlinear dynamical system, this letter considers the problem of selecting a subset of the total set of sensors that has provable guarantees on standard metrics related to the nonlinear observability Gramian. The key contribution is a simple randomized algorithm that samples the sensors uniformly without replacement, and yields probabilistic guarantees on the minimum eigenvalue or the inve...