In order to represent the environment digitally we have two options.
- Discrete Maps - Tile based map (or Voxel based) with squares or hexagons
- Topological maps or Graph-based maps - every region of the map corresponds to a vertex (also known as a “node”), which are connected by edges if a robot can navigate from one vertex to the other.
Discrete maps are dominant in robotics, but neither is the overall correct choice. Domain matters a lot.