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Incenter
The point of concurrency where the three angle bisectors of a triangle meet, dividing each angle into two equal parts.
Circumcenter
The point of concurrency formed by the intersection of the perpendicular bisectors of the sides of a triangle.

Orthocenter
The point of concurrency where the three altitudes drawn perpendicularly from each vertex to the opposite side meet.
Centroid
The point of concurrency created by the intersection of the three medians connecting each vertex to the midpoint of the opposite side.