An Information-Theoretic Approach for Path Planning in Agents with Computational Constraints

05/19/2020
by   Daniel T. Larsson, et al.
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In this paper, we develop a framework for path-planning on abstractions that are not provided to the system a-priori but instead emerge as a function of the agent's 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 supporting theoretical results 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 of the results and their interpretation relating to anytime algorithms and bounded rationality.

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