  Humans exhibit a wide range of adaptive and robust dynamic motion behavior
that is yet unmatched by autonomous control systems. These capabilities are
essential for real-time behavior generation in cluttered environments. Recent
work suggests that human capabilities rely on task structure learning and
embedded or ecological cognition in the form of perceptual guidance. This paper
describes the experimental investigation of the functional elements of human
motion guidance, focusing on the control and perceptual mechanisms. The motion,
control, and perceptual data from first-person guidance experiments is
decomposed into elemental segments based on invariants. These elements are then
analyzed to determine their functional characteristics. The resulting model
explains the structure of the agent-environment interaction and provides lawful
descriptions of specific perceptual guidance and control mechanisms.
