Schill, KerstinRachuy, Carsten2020-04-072020-04-072020-03-17https://media.suub.uni-bremen.de/handle/elib/4239https://doi.org/10.26092/elib/24Subject of this thesis is the development of a domain-independent algorithm that allows an autonomous system to process sequences of the sensorimotor interaction with its environment and to assign a geometric interpretation to its motor capabilities. We utilize Lie groups, smooth manifolds endowed with a group structure, that allow for an elegant representation of geometric operations as a central foundation for such a sensorimotor representation. Expressing motor controls with respect to the manifold structure allows us to transform the sensorimotor interaction sequence into a specific set of data points. Finding a manifold and a transformation that minimizes an intrinsic conflict function corresponds to finding a topological structure that is the best fit for expressing the sensorimotor space the entity resides in. Experiments in a virtual environment are conducted that show the applicability of the approach with respect to different sensor and motor configurations.enBitte wählen Sie eine Lizenz aus: (Unsere Empfehlung: CC-BY)sensorimotor representationbootstrappinglearningmobile agentsmanifoldsLie groups0Dissertation10.26092/elib/24urn:nbn:de:gbv:46-00108641-19