Optimal Maneuvering for Autonomous Vehicle Self-Localization.

We consider the problem of optimal maneuvering, where an autonomous vehicle, an unmanned aerial vehicle (UAV) for example, must maneuver to maximize or minimize an objective function. We consider a vehicle navigating in a Global Navigation Satellite System (GNSS)-denied environment that self-localizes in two dimensions using angle-of-arrival (AOA) measurements from stationary beacons at known locations. The objective of the vehicle is to travel along the path that minimizes its position and heading estimation error.