Abstract: Unlike traditional cameras, event cameras measure changes in light intensity and report differences. This paper examines the conditions necessary for other traditional sensors to admit eventified versions that provide adequate information despite outputting only changes. The requirements depend upon the regularity of the signal space, which we show may depend on several factors including structure arising from the interplay of the robot and its environment, the input–output computation needed to achieve its task, as well as the specific mode of access (synchronous, asynchronous, polled, triggered). Also, there are further notions of stability (or non-oscillatory behavior) as desiderata. This paper contributes theory and algorithms (plus a hardness result) that addresses these considerations while developing several elementary robot examples along the way.
