G. Orbán and D. M. Wolpert, Representations of uncertainty in sensorimotor control, Current Opinion in Neurobiology, vol.21, issue.4, pp.629-635, 2011.
DOI : 10.1016/j.conb.2011.05.026

S. Yeo, D. W. Franklin, and D. M. Wolpert, When Optimal Feedback Control Is Not Enough: Feedforward Strategies Are Required for Optimal Control with Active Sensing, PLOS Computational Biology, vol.6, issue.12, p.1005190, 2016.
DOI : 10.1371/journal.pcbi.1005190.s001

K. Hausman, J. Preiss, G. S. Sukhatme, and S. Weiss, Observability-Aware Trajectory Optimization for Self-Calibration With Application to UAVs, IEEE Robotics and Automation Letters, vol.2, issue.3, pp.1770-1777, 2017.
DOI : 10.1109/LRA.2017.2647799

M. Bianchi, P. Salaris, and A. Bicchi, Synergy-based hand pose sensing: Optimal glove design, The International Journal of Robotics Research, vol.18, issue.23, pp.407-424, 2013.
DOI : 10.1016/S0021-9290(03)00112-X
URL : http://arxiv.org/pdf/1206.0556

B. T. Hinson and K. A. Morgansen, : the role of sensor location and directional sensitivity, Bioinspiration & Biomimetics, vol.10, issue.5, p.56013, 2015.
DOI : 10.1088/1748-3190/10/5/056013

F. A. Belo, P. Salaris, D. Fontanelli, and A. Bicchi, A Complete Observability Analysis of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities, International Journal of Advanced Robotic Systems, vol.1, issue.4, 2013.
DOI : 10.1109/TAC.1977.1101601

R. Hermann and A. J. Krener, Nonlinear controllability and observability, IEEE Transactions on Automatic Control, vol.22, issue.5, pp.728-740, 1977.
DOI : 10.1109/TAC.1977.1101601

G. Besançon, Nonlinear observers and applications, 2007.

B. T. Hinson and K. A. Morgansen, Observability optimization for the nonholonomic integrator, 2013 American Control Conference, pp.4257-4262, 2013.
DOI : 10.1109/ACC.2013.6580494

B. T. Hinson, M. K. Binder, and K. A. Morgansen, Path planning to optimize observability in a planar uniform flow field, 2013 American Control Conference, pp.1392-1399, 2013.
DOI : 10.1109/ACC.2013.6580031

S. Candido and S. Hutchinson, Minimum uncertainty robot path planning using a POMDP approach, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1408-1413, 2010.
DOI : 10.1109/IROS.2010.5650130
URL : http://www-cvr.ai.uiuc.edu/~scandido/pdf/sal_candido_iros2010.pdf

A. Ansari and T. Murphey, Minimum sensitivity control for planning with parametric and hybrid uncertainty, The International Journal of Robotics Research, vol.2, issue.7, pp.823-839, 2016.
DOI : 10.1109/CDC.2012.6426621

P. Salaris, R. Spica, P. Giordano, and P. Rives, Online optimal active sensing control, 2017 IEEE International Conference on Robotics and Automation (ICRA), pp.672-678, 2017.
DOI : 10.1109/ICRA.2017.7989083
URL : https://hal.archives-ouvertes.fr/hal-01472608

A. J. Krener and K. Ide, Measures of unobservability, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, pp.6401-6406, 2009.
DOI : 10.1109/CDC.2009.5400067

F. Lorussi, A. Marigo, and A. Bicchi, Optimal exploratory paths for a mobile rover, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), pp.2078-2083, 2001.
DOI : 10.1109/ROBOT.2001.932913

R. Spica and P. Giordano, Active decentralized scale estimation for bearing-based localization, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.5084-5091, 2016.
DOI : 10.1109/IROS.2016.7759746
URL : https://hal.archives-ouvertes.fr/hal-01355789

A. D. Luca and G. Oriolo, Trajectory planning and control for planar robots with passive last joint, International Journal of Robotics Research (IJRR), vol.21, pp.5-6, 2002.

M. Fliess, J. Lévine, P. Martin, and P. Rouchon, Flatness and defect of non-linear systems: introductory theory and examples, International Journal of Control, vol.4, issue.6, pp.1327-1361, 1995.
DOI : 10.1007/978-1-4757-6802-2

C. Masone, A. Franchi, H. H. Blthoff, and P. R. Giordano, Interactive planning of persistent trajectories for human-assisted navigation of mobile robots, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2641-2648, 2012.
DOI : 10.1109/IROS.2012.6386171

C. Masone, P. R. Giordano, H. H. Blthoff, and A. Franchi, Semiautonomous trajectory generation for mobile robots with integral haptic shared control, IEEE International Conference on Robotics and Automation (ICRA), pp.6468-6475, 2014.
URL : https://hal.archives-ouvertes.fr/hal-00949184

L. Biagiotti and C. Melchiorri, Trajectory planning for automatic machines and robots, 2008.

D. E. Chang and Y. Eun, Construction of an atlas for global flatness-based parameterization and dynamic feedback linearization of quadcopter dynamics, 53rd IEEE Conference on Decision and Control, pp.686-691, 2014.
DOI : 10.1109/CDC.2014.7039461

Y. J. Kaminski, J. Levine, and F. Ollivier, Intrinsic and Apparent Singularities in Flat Differential Systems, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01426378

B. Siciliano and J. J. Slotine, A general framework for managing multiple tasks in highly redundant robotic systems, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments, pp.1211-1216, 1991.
DOI : 10.1109/ICAR.1991.240390

K. B. Petersen and M. S. Pedersen, The Matrix Cookbook, 2012.