Trajectory optimization by cooperative maneuver with multiple sensors

Using Fisher Information Matrix(FIM), the optimal trajectory which is generated in order to localize the specific target is obtained as optimal problem. However, it is more effective to use more vehicles with various sensor in order to gather information about target. So, since we just check how multi vehicles with various sensors by cooperative maneuver affect the trajectory in this paper. Analytical solution is obtained from the above formulation and then the solution is verified through several simulations.