A survey on the concept of Entropy as a measure of the intelligence and autonomy of a system, modeled hierarchically

Valavanis, K.P., The Entropy Based Approach to Modeling and Evaluating Autonomy and Intelligence of Robotic Systems, J Intell Robot Syst (2018) 91: 7 DOI: 10.1007/s10846-018-0905-6.

This review paper presents the Entropy approach to modeling and performance evaluation of Intelligent Machines (IMs), which are modeled as hierarchical, multi-level structures. It provides a chronological summary of developments related to intelligent control, from its origins to current advances. It discusses fundamentals of the concept of Entropy as a measure of uncertainty and as a control function, which may be used to control, evaluate and improve through adaptation and learning performance of engineering systems. It describes a multi-level, hierarchical, architecture that is used to model such systems, and it defines autonomy and machine intelligence for engineering systems, with the aim to set foundations necessary to tackle related challenges. The modeling philosophy for the systems under consideration follows the mathematically proven principle of Increasing Precision with Decreasing Intelligence (IPDI). Entropy is also used in the context of N-Dimensional Information Theory to model the flow of information throughout such systems and contributes to quantitatively evaluate uncertainty, thus, autonomy and intelligence. It is explained how Entropy qualifies as a unique, single, measure to evaluate autonomy, intelligence and precision of task execution. The main contribution of this review paper is that it brings under one forum research findings from the 1970’s and 1980’s, and that it supports the argument that even today, given the unprecedented existing computational power, advances in Artificial Intelligence, Deep Learning and Control Theory, the same foundational framework may be followed to study large-scale, distributed Cyber Physical Systems (CPSs), including distributed intelligence and multi-agent systems, with direct applications to the SmartGrid, transportation systems and multi-robot teams, to mention but a few applications.

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