Trajectory optimization by cooperative maneuver with different types of sensors

Using Fisher Information Matrix (FIM), the optimal trajectory to localize a specifc target is obtained as optimization problem. However, it is more effective to employ more vehicles with various sensors in order to gather suffcient information about the target. So, it is investigated how multi vehicles with different types of sensors by cooperative maneuver affect the trajectory in this paper. Clearly analytical solution is obtained from the above formulation and then the solution is verified through several simulations.