Information-Theoretic Abstractions for Planning in Agents With Computational Constraints
| Autor: | Panagiotis Tsiotras, Daniel T. Larsson, Dipankar Maity |
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| Rok vydání: | 2021 |
| Předmět: |
FOS: Computer and information sciences
Control and Optimization Theoretical computer science Computer Science - Artificial Intelligence Computer science Computer Science - Information Theory media_common.quotation_subject Biomedical Engineering Space (commercial competition) Computer Science - Robotics Artificial Intelligence Function (engineering) media_common Sequence Information Theory (cs.IT) Mechanical Engineering Bounded rationality Computer Science Applications Human-Computer Interaction Artificial Intelligence (cs.AI) Control and Systems Engineering Robot A priori and a posteriori Computer Vision and Pattern Recognition Hypercube Robotics (cs.RO) Random variable |
| Zdroj: | IEEE Robotics and Automation Letters. 6:7651-7658 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2021.3099995 |
| Popis: | In this paper, we develop a framework for path-planning on abstractions that are not provided to the agent a priori but instead emerge as a function of the available computational resources. We show how a path-planning problem in an environment can be systematically approximated by solving a sequence of easier to solve problems on abstractions of the original space. The properties of the problem are analyzed, and a number of theoretical results are presented and discussed. A numerical example is presented to show the utility of the approach and to corroborate the theoretical findings. We conclude by providing a discussion detailing the connections of the proposed approach to anytime algorithms and bounded rationality. |
| Databáze: | OpenAIRE |
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