CS-7638 FINAL EXAM 2026/2027 WITH ACTUAL
CORRECT QUESTIONS AND VERIFIED
DETAILED ANSWERS |CURRENTLY TESTING
QUESTIONS AND SOLUTIONS|NEWEST
|BRAND NEW VERSION|JUST RELEASED!!
What is the error equation?
y = Z - Hx
This equation represents the error by calculating the difference between the latest
measurement and the predicted location
What is the limit distribution of a robot? (infinite movements but no measurements)
The result will be a uniform distribution. So the more we more, the more information we will
lose about the environment and our location
What is a gaussian?
A gaussian is a normal distribution (uni-modal) where the area underneath sums up to 1
Suppose you run a particle filter with N=1 particles, what do you expect will happen?
It ignores measurements and likely fails. This is because in the re-sampling step, we re-sample
the same step particle since there's only one particle.
What does a robot pose consist of?
X, and y position and theta (the orientation)
For the bicycle model, will there be a single distinct track or 2 tracks left by the wheels after a
single horizontal movement?
1 distinct track
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, For the bicycle model, will there be a single distinct track or 2 tracks left by the wheels after
forward and rotation movement?
2 distinct tracks. Both will be circles. The smaller circle is made by the rear axel.
What are the steps needed for the bycicle model?
1. Radius , 2. Center point, 3. turning angle, 4. offset from center.
Does a probability distribution need to be normalized before being used in a localization
calculation?
No
What is the probability of two independent events, P(A and B)?
P(A and B) = P(A) * P(B)
What is the probability of two independent events, P(A or B)?
P(A or B) = P(A) + P(B) - P(A and B)
How do motion and measurement relate to entropy?
Motion makes entropy go up, measurement makes it go down
What is Bayes Rule?
P(A|B) = P(B|A)P(A)/P(B)
Is BFS continuous?
No
Is BFS guaranteed to find the optimal path?
Yes
Is A* continuous?
No
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CORRECT QUESTIONS AND VERIFIED
DETAILED ANSWERS |CURRENTLY TESTING
QUESTIONS AND SOLUTIONS|NEWEST
|BRAND NEW VERSION|JUST RELEASED!!
What is the error equation?
y = Z - Hx
This equation represents the error by calculating the difference between the latest
measurement and the predicted location
What is the limit distribution of a robot? (infinite movements but no measurements)
The result will be a uniform distribution. So the more we more, the more information we will
lose about the environment and our location
What is a gaussian?
A gaussian is a normal distribution (uni-modal) where the area underneath sums up to 1
Suppose you run a particle filter with N=1 particles, what do you expect will happen?
It ignores measurements and likely fails. This is because in the re-sampling step, we re-sample
the same step particle since there's only one particle.
What does a robot pose consist of?
X, and y position and theta (the orientation)
For the bicycle model, will there be a single distinct track or 2 tracks left by the wheels after a
single horizontal movement?
1 distinct track
1|Page
, For the bicycle model, will there be a single distinct track or 2 tracks left by the wheels after
forward and rotation movement?
2 distinct tracks. Both will be circles. The smaller circle is made by the rear axel.
What are the steps needed for the bycicle model?
1. Radius , 2. Center point, 3. turning angle, 4. offset from center.
Does a probability distribution need to be normalized before being used in a localization
calculation?
No
What is the probability of two independent events, P(A and B)?
P(A and B) = P(A) * P(B)
What is the probability of two independent events, P(A or B)?
P(A or B) = P(A) + P(B) - P(A and B)
How do motion and measurement relate to entropy?
Motion makes entropy go up, measurement makes it go down
What is Bayes Rule?
P(A|B) = P(B|A)P(A)/P(B)
Is BFS continuous?
No
Is BFS guaranteed to find the optimal path?
Yes
Is A* continuous?
No
2|Page
