Example Exam Questions
Exam Questions代写 The exam will consist of 35 multiple choice questions plus a longer design question. Each multiple-choice…
The exam will consist of 35 multiple choice questions plus a longer design question. Each multiple-choice question will be worth 2% of the total exam and the longer design question will be worth 30%. The exam will be open on surrey learn as an open book exam for 24 hours. However, it is designed to take 2 hours to complete. This equates to roughly 2 minutes per multiple choice question and around half an hour for the longer design question plus checking time.
Below are 15 sample questions which should take you ½ an hour to answer and a longer design question that should take ½ an hour.
Questions Exam Questions代写
Q1 Fill in the blank:
XXXXXXXXXX is a technique that carves the environment into discrete cells, these cells are typically used to represent free space in an environment.
a)OccupancyMap
b)RandomTree
c)MonteCarlo Localisation
d)GoogleCartographer
e)HectorSLAM
Q2 Which of the following are common uses for occupancy maps ? Exam Questions代写
a)Localisation
b)Navigation
c)PathPlanning
d)Allof the above
e)Noneof the above
Q3 How can raycasting remove erroneous geometry from an occupancy map?
a)Theoccupancy probability is reduced for all but the last cell which the ray passes through
b)Occupancyprobabilities decay over Only cells which the ray indicates contain structure will remain occupied
c)Erroneousstructure cannot be removed from the map
d)Theoccupancy probability is reduced for all cells the ray passes through
e)Multiplyingthe rays by the depth gives us 3D points which are stored in a point cloud
Q4 What term describes the application of a particle filter to robot localisation?
a)OccupancyMap
b)RandomTree
c)MonteCarlo Localisation
d)GoogleCartographer
e)HectorSLAM
Q5 Which of the following are Bayesian models ? Exam Questions代写
a)MonteCarlo Localisation
b)KalmanFilter
c)ParticleFilter
d)Allof the above
e)Noneof the above
Q6 Which of the following maintain multiple hypotheses ?
a)KalmanFilter
b)ExtendedKalman Filter
c)ParticleFilter
d)Allof the above
e)Noneof the above
Q6 Systematic resampling uses the ruler analogy to draw new samples. True or False ? Exam Questions代写
Q7 Given a population of 5 particles, where each particle {1,2,3,4,5} has normalised weights
{0.05,0.1,0.1,0.25,0.5}. Using systematic resampling, with no offset, what would be the new particle distribution?
a) {1,2,3,4,5}
b) {2,2,3,4,5}
c) {1,3,3,4,5}
d) {1,3,4,5,5}
e) {1,4,4,5,5}
Q8 Given a population of 5 particles, where each particle {1,2,3,4,5} has normalised weights
{0.05,0.1,0.1,0.25,0.5}. After systematic resampling, with no offset, what would be the new particle weights?
a) {0.05,1,0.1, 0.25, 0.5}
b) {1.0,0, 3.0, 4.0, 5.0}
c) {0.1,2,0.3, 0.4, 0.5}
d) {0.1,2, 0.3, 0.4, 0.5}
e) {0.2,2,0.2, 0.2, 0.2}
Q9 Which of the following are true ? Exam Questions代写
a)Anoctomap is a tree structure that hierarchically splits the world up into discrete cells
b)Anoctomap provides a multiscale representation
c)Anoctomap accelerates lookup and ray casting
d)Anoctomap mitigates quantization error
e)Allof the above
Q10 Consider the following statements:
- Anonholonimic platform can travel in any direction
- Anonholonomic system is one whose state depends on the path taken in order to achieve it Which statements are true ?
a)1is true, 2 is false
b)1is false, 2 is true
c)Bothare true
d)Bothare false
e)nonholonomicplatforms only exist in simulation
Q11 What do we call a planner that as more work is performed, the chance of finding a path becomes guaranteed ?
a)AsymptoticOptimality
b)ProbabilisticComplete
c)ResolutionComplete
d)NPComplete
e)Noneof the above
Q12 What do we call a planner that’s complexity is linear in the number of states ? Exam Questions代写
a)AsymptoticOptimality
b)ProbabilisticComplete
c)ResolutionComplete
d)NPComplete
e)Noneof the above
Q13 Which of the following path planning algorithms is asymptotically optimal?
a)A*
b)Dijkstra
c)PRM
d)RRT
e)Noneof the above
Q14 Which of the following path planning algorithms is resolution complete?
a)A*
b)PRM
c)RRT
d)RRT*
e)Noneof the above
Q15 What name do we give to the shortest curve that connects two points in SE2 if the vehicle can only travel forward ?
a)Dubinspath
b)ReedsShepp
c)Dijkstra’s
d)Optimalpath
e)Noneof the above
Q16
You have been asked to design a robot that can survey a nuclear contamination site. The levels of contamination are so high that no human can enter the core building. As the site is now derelict due to a partial explosion, you only have a rough plan of the building. Any paths or corridors in that plan may now be blocked with debris. Radiation is a problem for the electronics of the robot so heavy shielding means the robot is slow and cannot travel far on a single charge. It also means that sensors are subject to sensor noise (due to radiation) and that the sensor noise increases with proximity to radiation sources. The purpose of the robot is to survey the site and identify radiation hotspots. The robot will repeat this process at 6 month intervals to provide an overview of the degradation of the site and the radiation levels over time.
a)Would there be any benefit between a single robot versus multiple robots. If multiple robots,what control scheme would you recommend and would you advocate heterogeneous or homogeneous robots? Exam Questions代写
[15%]
b)Statingany assumptions that you make, what sort of locomotion would be suitable for the robot?
[15%]
c)Statingany assumptions that you make, what sort of sensors would you recommend for the robot?
[10%]
d)Statingany assumptions that you make, explain whether you would recommend a Simultaneous Localisation and Mapping (SLAM) algorithm or a Localisation algorithm. Exam Questions代写
[20%]
e)Brieflyexplain your Navigation Include the algorithms and techniques you would use.
[20%]
f)Whatnodes would your system require? Provide a list containing their purpose and whether you would advise they are nodes or nodelets.
[20%]
