Information theoretic modeling of intelligent robotic systems, Part I: The organization level

Intelligent Robotic Systems when modeled based on the constraints imposed by the Theory of Intelligent Controls, follow a three interactive level hierarchical structure, namely: organization, coordination and execution [17]. Generalized N-Dimensional Information Theory has been utilized to describe quantitatively the overall flow of knowledge (information) within the three interactive levels, and also within the organization level of such systems. This is accomplished by deriving a Generalized Partition Law of Information Rates to describe analytically the laws of information which govern the performance of an Intelligent Robotic System as a whole and within the organization level. The law considers the possible trade-offs between the noise, the internal control procedures, the feedback mechanisms, possible coordination and memory exchange procedures generated during the operation of such systems.