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The relevance of decision making in autonomous systems is intrinsically related to the system capacity to discriminate its perception-action states. This is particularly challenging in unknown and changing complex environments, where providing a complete a priori representation to the system is not possible. To illustrate the problem, let us consider a decentralized control of road traffic, where a control device of the distributed infrastructure locally controls traffic, by learning to construct a precise representation (perception-action states) of the traffic state. In this context, it is challenging to define from prior knowledge a relevant representation of the traffic state that enables an efficient recommendation-based control. Without considering a prior domain-knowledge representation, we propose an approach able to combine a set of existing traditional unsupervised learning methods that collaborate as a population of …