Show that $X_t = (1+t)^{-1/2} \exp \biggl( \frac{B_t^2}{2(1+t)} \biggr)$, where $B$ is a Brownian motion, is a martingal.
I understand that we need to show that $\mathbb{E}(X_t \vert \mathcal{F}_s) = X_s$ for all $t \ge s \ge 0$, where $\mathcal{F}$ is the canonical filtration of $X$. However, I do not see how to do this computation as we have no density function here. Could you please explain this to me?
You can explicitly compute the filtered expectation value, given the distribution of the increments of the Brownian motion $W_{st}=B_t-B_s$ and their independence from the increment $W_{0s}=B_s$:
$$\mathbb{E}[X_t|B_{T}, 0\leq T\leq s]=\mathbb{E}\left[(1+t)^{-1/2}\exp\left(\frac{(B_s+W_{st})^2}{2(1+t)}\right)\Bigg|B_s\right]\\=\frac{1}{\sqrt{2\pi(1+t)(t-s)}}\int_{-\infty}^{\infty}dx \exp[(B_s+x)^2/2(1+t)]\exp[-x^2/2(t-s)]$$
This integral is Gaussian. Can you take it from here?