Segmentation of behavioral spaces for navigation tasks

From the very beginning, the forefathers of the Artificial Intelligence field (McCarthy, Minsky, Newel and Simon) have emphasized the importance of the internal representation of an agent, whether artificial or biological. The issue that has been debated for the last 30 years is what the exact form of this representation is. In fact some philosophers, such as Dreyfus [5], even doubt whether this internal representation can ever be formalized. In this paper we shall assume such a formalism exists and do our part to address the long-debated question of what it is or what it should be.