Under this model, the history I-state is truncated. Any actions or observations received earlier than stages ago are dropped from memory. An I-map, , is defined as

(11.41) |

for any integer and . If , then the derived I-state is the full history I-state, (11.14). The advantage of this approach, if it leads to a solution, is that the length of the I-state no longer grows with the number of stages. If and are finite, then the derived I-space is also finite. Note that is sufficient in the sense defined in Section 11.2.1 because enough history is passed from stage to stage to determine the derived I-states.

Steven M LaValle 2012-04-20