Information-Theoretic Abstractions for Planning in Agents With Computational Constraints
Daniel T. Larsson, Dipankar Maity, Panagiotis Tsiotras
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.
BibTeX
@inproceedings{ral2021_informationtheor,
title = {Information-Theoretic Abstractions for Planning in Agents With Computational Constraints},
author = {Daniel T. Larsson and Dipankar Maity and Panagiotis Tsiotras},
booktitle = {RA-L 2021},
year = {2021}
}