Mobility is a major feature for a robot evolving in a partially unknown environment.
In order to interact efficiently with it, the robot needs to build a mental representation of its environment. In primates, the solution is to move the eyes with respect to the body to build a stable and coherent representation of the world, despite egomotion and spatially variant sampling. In first approximation, I restrict myself to monocular vision. This approach is closely related with the active vision paradigm. This concept, developed since the second half of the 1980's, can be defined as the voluntary control of perception and information processing parameters to carry out a specific action.