, in combination with the
initial condition, , yields the history I-state, which is denoted by . This
corresponds to all information that is known up to stage . In
spite of the fact that the states, , , , might not
be known, the history I-states are always known because they are
defined directly in terms of available information. Thus, the history
When representing I-spaces, we will generally ignore the problem of
nesting parentheses. For example, (11.14) is treated a
single sequence, instead of a sequence that contains two sequences.
This distinction is insignificant for the purposes of decision making.
The history I-state, , can also be expressed as
by noticing that the history I-state at stage contains all of the
information from the history I-state at stage . The only new
information is the most recently applied action, , and the
current sensor observation, .
Steven M LaValle