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This technical report presents an environment representation for use invision-based navigation. The representation has two useful properties: 1) ithas constant size, which can enable strong run-time guarantees to be made forcontrol algorithms using it, and 2) it is structurally similar to a cameraimage space, which effectively allows control to operate in the sensor spacerather than employing difficult, and often inaccurate, projections into astructurally different control space (e.g. Euclidean). The presentedrepresentation is intended to form the basis of a vision-based subsumptioncontrol architecture.

Image Space Potential Fields: Constant Size Environment Representation for Vision-based Subsumption Control Architectures