Sensor Observability

Sensor observability focuses on determining how well a robot's sensors can measure relevant aspects of its environment or task, particularly in relation to the robot's configuration. Current research emphasizes developing metrics and indices to quantify this observability, often drawing parallels with kinematic manipulability but extending to a wider range of sensor types and placements beyond joint-mounted sensors. This analysis is crucial for optimizing robot control and design, ensuring reliable sensing in various tasks and preventing situations where critical information becomes unobservable due to sensor alignment or robot pose. Improved sensor observability directly translates to enhanced robot performance and safety in physical interactions.