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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...

Randomized Sensor Selection for Nonlinear Systems With Application to Target Localization