Representing the Spatial Experience and Solving Spatial problems in a Simulated Robot Environment

This paper is concerned with spatial aspects of perception and action in a simple robot. To this end, the problem of designing a robot-controller for a robot in a simulated environment is considered. The environment is a two-dimensional tabletop with movable polygonal shapes on it. The robot has an eye which'sees' an area of the tabletop centred on itself, with a resolution which decreases from the centre to the periphery. Algorithms are oresented for simulating the motion and collision of two dimensional shapes in this environment.