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arXiv · 2604.18941

Path Integral Control for Partially Observed Systems with Controlled Sensing

Goutam Das·Takashi Tanaka
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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.

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Goutam Das, Takashi Tanaka. 2026-04-21. Path Integral Control for Partially Observed Systems with Controlled Sensing. https://arxiv.org/abs/2604.18941

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