DECISION THEORY AND DECISION BEHAVIOUR THEORY AND DECISION LmRARY General Editors: W. Leinfellner and G. Ebedein Series A: Philosophy and Methodology of the Social Sciences Editors: W. Leinfellner (Technical Universtiy of Vienna) G. Ehedein (Technical University of Munich) Series B: Mathematical and Statistical Methods Editor: H. Skala (University of Paderborn) Series C: Game Theory, Mathematical Prograrnrning and Operations Research Editor: S. H. Tijs (University ofNijmegen) Series D: System Theory, Knowledge Engineering and Problem Solving Editor: W. Janko (University of Economics, Vienna) SERIES B: MATHEMAT ICAL AND STATISTICAL METHODS Volume 15 Editor: H. Skala (Paderbom) Editorial Board J. Aczel (Waterloo), G. Bamberg (Augsburg), H. Drygas (Kassel), W. Eichhorn (Karlsruhe), P. Fishbum (New Jersey), D. Fraser (Toronto), W. Janko (Vienna), T. Kariya (Tokyo), P. de Jong (Vancouver), M. Machina (San Diego), A. Rapoport (Toronto), M. Richter (Kaiserslautern), B. K. Sinha (Cattonsville), D. Sprott (Waterloo), P. Suppes (Stanford), H. Theil (Florida), E. Trillas (Madrid), L. Zadeh (Berkeley). Scope The series focuses on the application of methods and ideas of logic, mathematics and statistics to the social sciences. In particular, formal treatment of social phenomena, the analysis of decision making, information theory and problems of inference will be central themes of this part of the library. Besides theoretical results, empirical investiga tions and the testing of theoretical models of real world problems will be subjects of interest. In addition to emphasizing interdisciplinary communication, the series will seek to support the rapid dissemination of recent results. For a list of titles published in this series, see final page. DECISION THEORY AND DECISION BEHA VIOUR Normative and Descriptive Approaches AN A TOL RAPOPOR T University ofToronto, Canada SPRINGER-SCIENCE+BUSINESS MEDIA B.Y. Library of Congress Cataloging-in-Publication Oata Rapoport, Anatol, 1911- Decision theory and decision behaviour: normative and descriptive approachesjA natol Rapoport. p. cm.-(Theory and decision library. Series B, Mathematical and statistical methods) BibJiography: p. Includes index. ISBN 978-90-481-4047-3 ISBN 978-94-015-7840-0 (eBook) DOI 10.1007/978-94-015-7840-0 1. Decision-making. 2. Game theory. I. Title. 11. Series. T57.95.R36 1989 658.4'03-dc20 89-33204 printed on acid/ree paper All Rights Reserved © 1989 by Springer Science+Business Media Oordrecht Origina1ly published by Kluwer Academic Publishers in 1989 Softcover reprint of the hardcover 1s t edition 1989 No part of the material protected by this copyright notice may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying, recording or by any information storage and retrieval system, without written permission from the copyright owner TABLE OF CONTENTS PREFACE vii INTRODUCTION 1 PART I: DECISIONS INVOLVING A SINGLE ACTOR CHAPTER 1 Orders and Scales 11 CHAPTER 2 Optimization 25 CHAPTER 3 Decisions under Uncertainty 55 CHAPTER 4 Decisions under Risk 68 CHAPTER 5 Subjective Aspects of Risk 97 CHAPTER 6 Multi-objective Decisions 122 CHAPTER 7 Theory of Social Choice 143 CHAPTER 8 Individual Psychology of Decision-making 159 PART 11: NON-COOPERATIVE GAMES CHAPTER 9 Two-person Constant Sum Games 177 CHAPTER 10 Some Topics in Continuous Games 197 CHAPTER 11 Two-person Non-constant Sum Games 216 CHAPTER 12 Psychological Pressures in Non-cooperative Games 237 CHAPTER 13 Theory of Voting 252 CHAPTER 14 Social Traps 270 PART 111: COLLECTIVE DECISIONS CHAPTER 15 Two-person Coo perative Games 291 CHAPTER 16 N-person Cooperative Games 317 CHAPTER 17 The Allocation Problem 336 CHAPTER 18 Indices of Power 350 CHAPTER 19 Theories of Coalition Formation 369 v vi CONTENTS CHAPTER 20 Psychology of Collective Decision-making 382 CONCLUDING REMARKS 400 APPENDIX A Glossary of Symbols and Terms 409 REFERENCES 416 INDEX 421 PREFACE This book presents the content of a year's course in decision processes for third and fourth year students given at the University of Toronto. A principal theme of the book is the relationship between normative and descriptive decision theory. The distinction between the two approaches is not clear to everyone, yet it is of great importance. Normative decision theory addresses itself to the question of how people ought to make decisions in various types of situations, if they wish to be regarded (or to regard themselves) as 'rational'. Descriptive decision theory purports to describe how people actually make decisions in a variety of situations. Normative decision theory is much more formalized than descriptive theory. Especially in its advanced branches, normative theory makes use of mathematicallanguage, mode of discourse, and concepts. For this reason, the definitions of terms encountered in normative decision theory are precise, and its deductions are rigorous. Like the terms and assertions of other branches of mathematics, those of mathematically formalized decision theory need not refer to anything in the 'real', i.e. the observable, world. The terms and assertions can be interpreted in the context of models of real li fe situations, but the verisimilitude of the models is not important. They are meant to capture only the essentials of adecision situation, which in reallife may be obscured by complex details and ambiguities. It is these details and ambiguities, however, that may be crucial in determining the outcomes of the decisions. Their omission from the models may lead to the deduced consequences of decisions being entirely different from the actual outcomes. For this reason, the assertions of normative decision theory, generated by rigorous deduction from assumed idealized conditions, cannot be interpreted as predictions of actual human decisions or of their consequences. Thus, the objective of normative decision theory is not to predict decisions or their consequences but to disclose the logical essence of an idealized decision problem. In contrast, descriptive decision theory does deal with reallife situations (or laboratory simulations of such situations). For this reason, its terms cannot be defined with absolute precision. At most, in experimental approaches, the expected observations are defined in ways that make them recognizable; for example, which of severallabeled alternatives a subject in an experiment will choose on a given occasion under given labeled (rather than precisely defined) conditions. When the descriptive approach becomes 'theoretical', i.e., seeks to establish causes and effects of observed events, especially if the causes or effects refer to psychological states (motivations, preferences, satisfactions, disappointments, etc.) rigour becomes an ideal rather than a standard. VB Vlll PREFACE The distinction between the normative and the descriptive approaches should make clear why it is futile to demand 'predictive power' from normative decision theory (as we demand from a theory developed in a natural science) and equally futile to demand mathematical rigour from descriptive theory. Sometimes descriptive theory is not in a position to make predictions of people's decisions. It must often content itself with a classifi cation of decision processes or of social phenomena governed by decisions, for example a taxonomy of political coalitions and the like. Here descriptive decision theory finds itself on a level analogous to that of early biology, when it was in the 'natural history', specimen-collecting stage. Ordinarily, the two directions of decision theory are pursued separately. Formal normative theory is typically studied in the context of economics, especially microeconomics, or of management science, disciplines recently enriched by the infusion of the theory of games, the most thoroughly developed branch of normative decision theory. Students of political science are also sometimes introduced to some topics in the theory of games. When this theory first appeared on the intellectual horizon, much was expected from it in military circles. Whether these expectations were justified is hard to say, since the sort of situations that would put applications of the theory to a test (e.g., decision situations in a war conducted on an appropriate level of sophistication) have not yet occurred, and it is a moot question whether such a war would create opportunities for on-line application of game-theoretic analysis. At any rate, except for abrief mention in Chapter 10 of so-called games ofpursuit and evasion (in which considerable interest has been aroused in military circles) no contact is made in this book between formal decision theory and problems of interest to military professionals. Treatments of descriptive decision theory can now be found in books and courses in psychology, especially social psychology. To the extent that psychology deals with concepts relevant to choices, e.g., with motivations, preferences, problem solving, etc., it deals with subject matter to which descriptive decision theories (note the plural) are relevant. In this book roughly equal emphasis is placed on both approaches and their different concerns. I was motivated to take this 'two-track' approach because I feel that both are important but each is neglected when the other is presented. Students of economics and of management science often remain insulated from the psychology of decision-making, while students of psychology have no opportunity to appreciate the intricacies of formal decision models and of the part these intricacies can play in influencing choices. Thus, the alternation between the formal and descriptive modes is one way in which the exposition was organized. The other basis of organization sterns from distinguishing the relationships of the decision-makers, who will usually be called 'actors', to their environ ment and to each other. Part I deals with decision situations involving a single actor. He need not be an individual. 'He' may be a firm, a political party, or a PREFACE IX nation. The identity of the actor is determined by a set of interests. Thus, in situations involving a single actor, the problems need to be considered only from 'his' point of view. The relationship of the actor to the environment will depend on whether the environment is deterministic or not. In the former case, a one-to-one correspondence will be supposed between the actor's choices among alternatives and the associated outcomes. These situations will be called decisions under certainty. Ifthe environment is not deterministic, we shall be dealing with decisions under risk or decisions under uncertainty, according to wh ether probabilities can or cannot be assigned to the 'states of nature' which, together with the actor's choices, determine the outcomes. Part II treats non-cooperative games. These are decision situations involv ing two or more ac tors with ge,nerally non-coincident interests and with no opportunities for the actors to cooperate with each other. The principal theme in this branch of decision theory is the problem of choosing strategies (courses of action conditional on the outcomes of intermediate steps) which can in some sense be regarded as 'optimal'. Making the meaning of'optimal' clear in these contexts is itself an important problem raised in the theory of decision. Part III deals with collective decisions. Here two or more actors have some common interests and are able to co ordinate their strategies so as to achieve outcomes which, in some way, benefit both or all of them. The problem remaining is typically that of distributing the benefits attained by this sort of cooperation among the actors concerned. The assumed level of mathematical maturity varies with the topics treated. Familiarity with differential equations is required to follow the arguments in the sections on control theory in Chapter 2 and on continuous games in Chapter 10. These topics can be omitted without disturbing continuity. In some discussions, multiplication of vectors and matrices is involved. On two occasions, the eigenvalues of a matrix are mentioned. For the rest, familiarity with the ideas of elementary citlculus and elementary probability theory should suffice. These topics are introduced in Grade 13 of Ontario public schools and are listed as the only prerequisites for the course on which this book is based. I have found that, in general, discussion of mathematical methods in the context of decision problems motivates students to familiarize themselves with the uses of mathematics. An instructor in an introductory course in decision theory should be likewise motivated to help students acquire some mathematicalliteracy in the context of applications. Increasingly, mathemat ics is seen (or ought to be seen) as a powerful aid to rigorous thinking. This is especially true ofthe role mathematics plays in decision theory, as is evidenced by the natural way in which the fundamental concepts of decision theory are cleady and cogently expressed in set-theoretic and functional notation. Familiarity with this language is more important for a deep understanding of formal decision theory than facility in techniques of 'classical' mathematics. Although mathematical notation and mathematical arguments are used x PREFACE throughout this book, recourse to genuine mathematical rigour is minimal. Emphasis is on intuitive understanding of the arguments rather than on formal proofs. This comparative laxity is consistent with the attempt to bring together students interested in the technical side of decision theory and those interested in its implications for psychology and the social sciences. The scope of the book, offered primarily as a survey of the subject, reftects breadth rather than depth. Many topics are only 'savoured', as it were. Thus, treatments of linear programming, control theory, statistical decisions, and games in characteristic function form barely scratch the surface of these now extensiveiy developed fields. On the social science side, the large bodies of literat ure on the formation of political coalitions, allocations of costs and benefits in public works, and on the psychology of individual and collective decision-making are barely tapped. The variety of topics touched upon was meant to stimulate the reader or student to pursue whatever directions are found to be especially interesting to any desired depth. In combining the normative and descriptive approaches to decision processes, I hoped to enable the reader to reap the fruits ofthis union, namely, the rich philosophical implications ofthe apparently straightforward concept of 'rationality'. In view of the growing realization of the paramount import ance of decisions with global consequences, these philosophical implications should be taken very seriously. ANATOL RAPOPORT Toronto, February, 1989