Path Integral Control for Partially Observed Systems with Controlled Sensing
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866914494271193088 |
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| author | Das, Goutam Tanaka, Takashi |
| author_facet | Das, Goutam Tanaka, Takashi |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_18941 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Path Integral Control for Partially Observed Systems with Controlled Sensing Das, Goutam Tanaka, Takashi Systems and Control 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. |
| title | Path Integral Control for Partially Observed Systems with Controlled Sensing |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2604.18941 |