B-MPC optimizes over estimated states and input-dependent covariances using a deterministic belief surrogate, outperforming separation-principle and standard MPC controllers in synthetic tests with lower estimation error.
System identification for linear dynamics with bilinear observation models: An expectation–maximization approach
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Dual Control of Linear Systems from Bilinear Observations with Belief Space Model Predictive Control
B-MPC optimizes over estimated states and input-dependent covariances using a deterministic belief surrogate, outperforming separation-principle and standard MPC controllers in synthetic tests with lower estimation error.