Building the Topology Assume a set of distinctiveness measures 1. dn and a set of local control strategies Choose a lcs 2. Follow lcs until maximum in one of d is seen 3. Hill-climb on d, until maximum is reached 4. Move towards open space 5. Repeat A simple environment The Distinctiveness surface Hill-Climbing 易 D P2777 WALL2 WALL3 WALL2 WALL3 C Measures and strategies Measures Range variance Lateral range variance Range symmetry Temporal discontinuity Number of directions of reasonable motion Temporal change in number of directions of motion Strategies Follow the midline Move along Object on Left Move along Object on Right Blind stepBuilding the Topology ● Assume a set of distinctiveness measures, d1,...,dn and a set of local control strategies 1. Choose a LCS 2. Follow LCS until maximum in one of di is seen 3. Hill-climb on di until maximum is reached 4. Move towards open space 5. Repeat A simple environment The Distinctiveness Surface Hill-Climbing Measures and Strategies ● Measures: – Range variance – Lateral range variance – Range symmetry – Temporal discontinuity – Number of directions of reasonable motion – Temporal change in number of directions of motion ● Strategies – Follow the midline – Move along Object on Left – Move along Object on Right – Blind step C A B D E P1 P2 WALL2 WALL2 WALL3 WALL1 WALL3