MidTerm

Question 1

Can a Histogram Filter be multimodal, or just unimodal?

Answer 1

Can be multimodal

Question 2

Can a Kalman Filter be multimodal, or just unimodal?

Answer 2

Cannot be multimodal. (Just unimodal.)

Question 3

In regards to Histogram Filters, when it comes to scaling in the number of dimensions of the state space, which of the following is the amount of storage that must be assigned?

Answer 3

Exponential

Question 4

In regards to Kalman Filters, when it comes to scaling in the number of dimensions of the state space, which of the following is the amount of storage that must be assigned?

Answer 4

Quadratic

Question 5

What is the state space of a particle filter?

Answer 5

Continuous

Question 6

Can Particle Filter be multi-modal or uni-modal?

Answer 6

Multi modal

Question 7

Whats the max number of dimensions that particle filter should use?

Answer 7

Four dimensions

Question 8

What is the heading in a particle filter?

Answer 8

The angle relative to X- axis

Question 9

What are the location value of each particle vector?

Answer 9

X, Y, Heading

Question 10

What are the two controls of the bicycle model

Answer 10

Steering angle and forward movement

Question 11

What is a positive steering angle in the bibycle model

Answer 11

to the right

Question 12

What is a negative steering angle in the bicycle model

Answer 12

tot he left

Question 13

What defines the steering angle in the bicycle model

Answer 13

the angle the front wheel makes to the orientation of the vehicle

Question 14

What would be a zero angle in the bicycle model

Answer 14

When the front wheel is in the same direction as the vehicle.

Question 15

How to we measure forward ovement

Answer 15

From the rear axle at the beggining to where the rear axle ends

Question 16

Will the rear axle change direction in respect to the robot?

Answer 16

No, the rear axle is set in place.

Question 17

In a bicycle model, which axle will make a smaller circle?

Answer 17

The rear axle

Question 18

In a bicycle model, how many tracks will there be when turning?

Answer 18

There will be two tracks

Question 19

if we increase the steering angle what will happen to the center of the circlew.

Answer 19

It will get closer

Question 20

How bar will the robot have to travel to get back to its starting position?

Answer 20

2pir

Question 21

What is the formula for the arch length?

Answer 21

arch length = essential_angle * radius

Question 22

Admissable Heuristic

Answer 22

h(x) <= cost to goal