Information-Theoretic Abstractions for Planning in Agents with Computational Constraints
Robotics
2021-07-29 v2 Artificial Intelligence
Information Theory
math.IT
Abstract
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.
Cite
@article{arxiv.2005.09611,
title = {Information-Theoretic Abstractions for Planning in Agents with Computational Constraints},
author = {Daniel T. Larsson and Dipankar Maity and Panagiotis Tsiotras},
journal= {arXiv preprint arXiv:2005.09611},
year = {2021}
}