Skip to main content


eCommons@Cornell >
College of Engineering >
Computer Science >
Computer Science Technical Reports >

Please use this identifier to cite or link to this item:
Title: On Information Invariants in Robotics
Authors: Donald, Bruce Randall
Keywords: computer science
technical report
Issue Date: Apr-1993
Publisher: Cornell University
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.
Appears in Collections:Computer Science Technical Reports

Files in This Item:

File Description SizeFormat
93-1341.pdf7.09 MBAdobe PDFView/Open
93-1341.ps1.45 MBPostscriptView/Open

Refworks Export

Items in eCommons are protected by copyright, with all rights reserved, unless otherwise indicated.


© 2014 Cornell University Library Contact Us