Controlling the observation matrix to satisfy a structural matching condition reduces the belief-space HJB equation to a linear PDE with Feynman-Kac representation.
Robust model predictive path integral control: Analysis and performance guarantees,
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Path integral control is extended to Gaussian belief space for partially observed systems, yielding necessary and sufficient matching conditions, an exact Cole-Hopf linearization via Feynman-Kac, and the MPPI-Belief algorithm that outperforms certainty-equivalent and particle-filter baselines on a导航
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Path Integral Control for Partially Observed Systems with Controlled Sensing
Controlling the observation matrix to satisfy a structural matching condition reduces the belief-space HJB equation to a linear PDE with Feynman-Kac representation.
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Path Integral Control in Gaussian Belief Space for Partially Observed Systems
Path integral control is extended to Gaussian belief space for partially observed systems, yielding necessary and sufficient matching conditions, an exact Cole-Hopf linearization via Feynman-Kac, and the MPPI-Belief algorithm that outperforms certainty-equivalent and particle-filter baselines on a导航