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We consider the problem of optimizing the trajectory of a mobile sensor with perfect localization whose task is to estimate a stochastic, perhaps multidimensional field modeling the environment. When the estimator is the Kalman filter, and for certain classes of objective functions capturing the informativeness of the sensor paths, the sensor trajectory optimization problem is a deterministic optimal control problem. This estimation problem arises in many applications besides the fielddoi:10.1109/cdc.2009.5399526 dblp:conf/cdc/NyP09 fatcat:skbl3pbvhzed7hev6t66lpf65i