Computational domains of the robotic architecture.

<p>Computational domains of the robotic architecture.</p

Activation values over time undergoing spatial modulation.

<p>Activation values over time undergoing spatial modulation.</p

Glossary of terms and mathematical variables.

<p>Glossary of terms and mathematical variables.</p

Gaussian overlap visualisation.

<p>Input test data and output arrays from experimental software. Each point from the input grid (top left) is encoded using a Gaussian function and decoded using vector averaging. The axes are scaled such that 50 units  =  one grid spacing. The results show a field radius of 1.0 (top right), 1.1 (bottom left) and 1.2 (bottom right).</p

Link count versus error.

<p>Combined mean overlap and field counts required to provide an expected deviation of 1 percent of the map's area. This approximates the number of links between maps of similar density.</p

Small sample map.

<p>Error map depicting 2 fields with trilateration decoding (left), 3 field trilateration (centre) and 3 fields vector average decoding (right). The encoding function is linear for all cases. Each pixel on the map is used as a stimulus point and the distance between the result and original point is denoted by the colour of the pixel. Errors range from 0 to 1 field radius.</p

Field coverage.

<p>Areas of overlap with increasing field radius. Abscissa is field radius; ordinate gives coverage per unit area of the 2D plane.</p

Vector based reaching performance.

<p>Shows the average percentage of extra distance travelled over the ideal distance whilst moving the hand of the robot through a set of points in the gaze space. Each bar demonstrates the change in performance with increasing field radius . The experiment was performed with random (left) and rectangular based grid (right) topologies.</p

Cosine performance.

<p>Error plot for a range of cosine encoders using vector average decoding tested over a range of radii.</p

Polar structure.

<p>A polar field array (left) and a plot of the field centres on their radials (right).</p