1. A decision making mechanism, said decision making mechanism being operable to decide on at least one prospective action of a robot from a set of actions of said robot by: computing a prior probabilistic representation of a prior environment state; updating of said prior probabilistic representation with targets of a new observation on reducing at least one uncertainty in a posterior probabilistic representation of a posterior environment state to be reached after an appliance of said at least one prospective action, wherein said posterior probabilistic representation is a probabilistic representation resulting from said updating; determining an information gain between said prior probabilistic representation and said posterior probabilistic representation by use of at least one information theoretic measure; and evaluating said at least one prospective action by adding costs of executing said at least one prospective action to said information gain.