Some Complexity Aspects of the Control of Mobile Robots
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Abstract
In an earlier work it was shown how the length of
the specification of a control procedure is affected by
the availability of sensory information. In particular,
it was shown that this length can be reduced by a factor
that depends on the ratio of the size of the entire state
space to the size of the set of states for which feedback
is locally effective. In this paper we modify this result
to explain why landmark-based navigation through a
series of intermediary goals can be beneficial from a
complexity point of view. We furthermore show how to
choose the resolution of the sensors, i.e. the size of the
output space, in order to generate control procedures
with short description lengths.
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2002-05
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