Table 1.

Subset of table of mutual information (info) of q future sensor measurements, indexed by previous number of sensor measurements equal to zero (nz0) and number of sensor measurements equal to one (nz1). Note that in the actual algorithm, the lookup table is computed for values nz0,nz1 ≤ 20 and $q\le$ 10.

nz0	0	1	2	0	1	2	0	1	2
nz1	0	0	0	1	1	1	2	2	2
info ($q=$ 1)	0.390	0.209	0.050	0.209	0.390	0.209	0.050	0.209	0.390
info ($q=$ 2)	0.599	0.347	0.094	0.347	0.599	0.347	0.094	0.347	0.599
info ($q=$ 3)	0.737	0.432	0.125	0.432	0.737	0.432	0.125	0.432	0.737