CS-7638 ACTUAL EXAM PAPER 2026
QUESTIONS WITH SOLUTIONS GRADED A+
◉What is the limit distribution of a robot? (infinite movements but
no measurements). Answer: 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 the formula for entropy?. Answer: -SUM(P(Xi) log(P(Xi))
◉In Histogram Filter, how is the Sense/measurement function
calculated?. Answer: Using Products (multiplication) followed by
normalization. (Using baye's theorem)
◉In Histogram Filter,, how is the Move/motion function calculated?.
Answer: Using convolution (addition). (using total probability). The
operation of a weighted sum is called a convolution.
◉How does the memory scale wrt. the number of state variables in a
Localization method? (linearly? Quadratically? exponentially).
Answer: Exponentially. If each variable had 20 possible values (bins)
then the joint probability table will be 20^n where n is the number
state dimensions.
, ◉What is the number of one issue with localization grid (histogram)
method?. Answer: The memory allocation is exponential.
◉What is standford's first self driving car called?. Answer: Junior -
uses lasers and radar
◉What is Kalman filter used for?. Answer: Tracking & localization of
the robot. It helps track the movement of other objects in our
environment so we don't collide with them.
◉Is Kalman Filter discrete or continious?. Answer: continious
◉Is Kalman filter uni-modal or multi-modal?. Answer: uni-modal
(using Gaussians)
◉Is Monte Carlo Localization discrete or continuous?. Answer:
discrete
◉Is Monte Carlo Localization Uni-modal or Multi-modal? In
(Histogram Filter). Answer: Multi-modal
◉Are particle filters discrete or continious?. Answer: Continious
QUESTIONS WITH SOLUTIONS GRADED A+
◉What is the limit distribution of a robot? (infinite movements but
no measurements). Answer: 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 the formula for entropy?. Answer: -SUM(P(Xi) log(P(Xi))
◉In Histogram Filter, how is the Sense/measurement function
calculated?. Answer: Using Products (multiplication) followed by
normalization. (Using baye's theorem)
◉In Histogram Filter,, how is the Move/motion function calculated?.
Answer: Using convolution (addition). (using total probability). The
operation of a weighted sum is called a convolution.
◉How does the memory scale wrt. the number of state variables in a
Localization method? (linearly? Quadratically? exponentially).
Answer: Exponentially. If each variable had 20 possible values (bins)
then the joint probability table will be 20^n where n is the number
state dimensions.
, ◉What is the number of one issue with localization grid (histogram)
method?. Answer: The memory allocation is exponential.
◉What is standford's first self driving car called?. Answer: Junior -
uses lasers and radar
◉What is Kalman filter used for?. Answer: Tracking & localization of
the robot. It helps track the movement of other objects in our
environment so we don't collide with them.
◉Is Kalman Filter discrete or continious?. Answer: continious
◉Is Kalman filter uni-modal or multi-modal?. Answer: uni-modal
(using Gaussians)
◉Is Monte Carlo Localization discrete or continuous?. Answer:
discrete
◉Is Monte Carlo Localization Uni-modal or Multi-modal? In
(Histogram Filter). Answer: Multi-modal
◉Are particle filters discrete or continious?. Answer: Continious
