Year: 2026
Type: preprint
Abstract: Path integral control in Gaussian belief space requires a structural matching condition between the observation-driven diffusion of the belief mean and the actuation authority, which a fixed observation matrix cannot enforce. We treat the observation matrix as a control variable and show that constraining the sensing control to a measurable selector from the resulting matching set reduces the Hamilton-Jacobi-Bellman equation for the belief mean and covariance to a linear PDE with a Feynman-Kac representation.
Source: arXiv (Cornell University)
Authors: Das, Goutam, Tanaka, Takashi
Subfield: Computational Theory and Mathematics
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
Awards: G1523888516, G2515541506
OpenAlex ID: W7155204865
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