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Question 1

What is true for publish-subscribe arch. Style?

A: All nodes can serve publishers and subscribers
B: Good when intormation is requested by a single peer
C: Single point of failure is not a problem
D: Easy to distribute since central server/node is needed.

Answer 1

A: All nodes can serve publishers and subscribers

Question 2

What is true for client-server arch. Style?
A: All nodes can serve as servers
B: Good when multiple clients request the same information
C: Single point of failure is not a problem
D: Easy to distribute since no central server/node is needed
E: May lead to runtime errors

Answer 2

C: Single point of failure is not a problem
D: Easy to distribute since no central server/node is needed

Question 3

Why SPA arch. May fail?
A: Planning blocks execution
B: Execution without sensing is dangerous

Answer 3

A: Planning blocks execution
B: Execution without sensing is dangerous

Question 4

Why Behavioural arch. May fail?
A: Difficulties with long term planning
B: Difficult to compose multiple behaviours

Answer 4

A: Difficulties with long term planning
B: Difficult to compose multiple behaviours

Question 5

The three main components of layered arch. are….

Answer 5

Behaviour, Planning and Execution

Question 6

This is true about the behaviour layer
A: It takes care of planning
B: It connects directly to actuators and sensors
C: Situated behaviour means: Behaviours must work in all situations

Answer 6

B: It connects directly to actuators and sensors

Question 7

This is true about the executive layer.
A: It takes care of long-term planning
B: It connects planning layer with behaviour layer
C: Decomposes hight level plans to behaviours.
D: It monitors execution and handles some exceptions

Answer 7

B: It connects planning layer with behaviour layer
C: Decomposes hight level plans to behaviours.
D: It monitors execution and handles some exceptions

Question 8

This is true about the planning layer.

A: It takes care of long-term planning
B: It connects executive layer with behaviour layer
C: Decomposes high level plans to behaviours
D: It monitors resources and takes care of replanning in case of failure

Answer 8

A: It takes care of long-term planning
D: It monitors resources and takes care of replanning in case of failure

Question 9

Which of these do we need to ask about when deciding on robotic arch.?

A: Task types
B: Actions
C: Data
D: Users
E: Reusability

Answer 9

All of them!
A: Task types
B: Actions
C: Data
D: Users
E: Reusability