MidTerm Flashcards
Can a Histogram Filter be multimodal, or just unimodal?
Can be multimodal
Can a Kalman Filter be multimodal, or just unimodal?
Cannot be multimodal. (Just unimodal.)
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?
Exponential
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?
Quadratic
What is the state space of a particle filter?
Continuous
Can Particle Filter be multi-modal or uni-modal?
Multi modal
Whats the max number of dimensions that particle filter should use?
Four dimensions
What is the heading in a particle filter?
The angle relative to X- axis
What are the location value of each particle vector?
X, Y, Heading
What are the two controls of the bicycle model
Steering angle and forward movement
What is a positive steering angle in the bibycle model
to the right
What is a negative steering angle in the bicycle model
tot he left
What defines the steering angle in the bicycle model
the angle the front wheel makes to the orientation of the vehicle
What would be a zero angle in the bicycle model
When the front wheel is in the same direction as the vehicle.
How to we measure forward ovement
From the rear axle at the beggining to where the rear axle ends
Will the rear axle change direction in respect to the robot?
No, the rear axle is set in place.
In a bicycle model, which axle will make a smaller circle?
The rear axle
In a bicycle model, how many tracks will there be when turning?
There will be two tracks
if we increase the steering angle what will happen to the center of the circlew.
It will get closer
How bar will the robot have to travel to get back to its starting position?
2pir
What is the formula for the arch length?
arch length = essential_angle * radius
Admissable Heuristic
h(x) <= cost to goal
