If we want the robot to be able to follow the gradient of a light source, what information does it need to remember between time steps? How can this information be stored in a hierarchical controller?
  • In order to compute the light gradient from the last time step, the robot controller needs to know the previous light sensor reading and the previous steer direction. These two variables can be transferred as a belief-state feature between time steps.

Valid HTML 4.0 Transitional