Information theoretic modeling of intelligent robotic systems, Part II: The coordination and execution levels

Intelligent Robotic Systems, when modeled based on the constraints imposed by the Theory of Intelligent Controls, follow a three interactive level hierarchical structure, organization, coordination and execution. An Information Theoretic approach has been used to model mathematically the functions of the coordination and execution levels of such systems and describe quantitatively the flow of knowledge (information) within the two levels. This is accomplished by deriving a Generalized Partition Law of Information Rates which takes into account the possible trade-offs between the noise, internal control procedures, feed-back mechanism from execution to coordination and memory exchange within both levels.