Fig. 3: Simulating robot trajectories.
From: Artificial spacetimes for reactive control of resource-limited robots
a A maze traversal demonstration with an embedded proportional control metric that directs robots to the same target location. For visualization, the control field magnitude is plotted logarithmically. b The hyperbolic plane is mapped into virtual space, causing robots, initialized with the same position and different headings, to diverge and end up in different regions of the maze. The difference between the largest and smallest headings (cyan vs. purple), defined as Δθ, is only 1.06°, and changes as small as 0.06° demonstrate the effect (red vs. blue). c A turning metric directs robots to different sides of the space based on the initial trajectory. In each case, robots use the same static fields, agnostic to their initialization conditions.
