The Mortensen observer on the space of probability measures
We study a deterministic filtering problem formulated directly on the Wasserstein space of probability measures with finite second moment. Motivated by the Mortensen minimum-energy observer, we consider the reconstruction of an evolving probability density from partial observations by minimizing an action functional combining a kinetic transport cost and a time-dependent observation mismatch. The resulting value function is defined on the infinite-dimensional manifold $(P_2(R^d), W_2)$ and satisfies a Hamilton-Jacobi-Bellman equation involving the Wasserstein gradient. Under suitable regularity and growth assumptions on the observation functional, we establish dynamic programming principles, continuity of the value function, existence of minimizing trajectories, and viscosity solution properties of the associated Hamilton-Jacobi equation. We provide two complementary notions of viscosity solutions: a geometric formulation based on subdifferentials in Wasserstein space, and a Hilbertian formulation inspired by Lions' lifting approach. This allows us to prove a comparison principle and uniqueness of solutions. Extensions to transport equations with drift are also discussed. Finally, we introduce a semi-Lagrangian scheme in order to approximate the value function, and show $\Gamma$-convergence of the scheme.