When designing movement plans for Steward, we use a framework built around cost maps, which are basically grayscale images that each represent something that the Steward should either avoid or be attracted to.

Egocentric cost maps

Above: Dimensions of the egocentric cost map. Each grid cell here is actually 10x10 cells/pixels.

Our cost maps have a resolution of 0.2 meters per pixel. That mean that there are 25 pixels per square meter.