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Please use this identifier to cite or link to this item: http://hdl.handle.net/1813/6107
Title: On Information Invariants in Robotics
Authors: Donald, Bruce Randall
Keywords: computer science
technical report
Issue Date: Apr-1993
Publisher: Cornell University
Citation: http://techreports.library.cornell.edu:8081/Dienst/UI/1.0/Display/cul.cs/TR93-1341
Abstract: We consider the problem of determining the information requirements to perform robot tasks, using the concept of information invariants. This paper represents our attempt to characterize a family of complicated and subtle issues concerned with measuring robot task complexity. We also provide a first approximation to a purely operational theory that addresses a narrow but interesting special case. We discuss several measures for the information complexity of a task: (a) How much internal state should the robot retain? (b)How many cooperating agents are required, and how much communication between them is necessary? (c) How can the robot change (side-effect) the environment in order to record state or sensory information to perform a task? (d) How much information is provided by sensors? and (e) How much computation is required by the robot? We consider how one might develop a kind of "calculus" on (a) - (e) in order to compare the power of sensor systems analytically. To this end, we attempt to develop a notion of information invariants. We develop a theory whereby one sensor can be "reduced" to another (much in the spirit of computation-theoretic reductions), by adding, deleting and reallocating (a) - (e) among collaborating autonomous agents.
URI: http://hdl.handle.net/1813/6107
Appears in Collections:Computer Science Technical Reports

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