Where Do I Move My Sensors? Emergence of a Topological Representation of Sensors Poses From the Sensorimotor Flow

This article deals with the perception of mobile robotic systems within framework interactive perception, and inspired by sensorimotor contingencies (SMCs) theory. These approaches state that arises from active exploration an environment. In SMC theory, it is postulated information about structure space could be recovered a quasi-uninterpreted flow. recent article, authors have provided mathematical for construction representation interaction between sensors body naive agent, sensory inputs come agent's own body. An extension these results, stimulations coming unknown changing environment, proposed in this article. More precisely, demonstrated that, through repeated explorations its motor configurations, perceived invariants can exploited to build topologically accurate internal relative poses physical world. Precise theoretical considerations are as well experimental assessed simulated but challenging environments.