CS-7638 COMPREHENSIVE STUDY PAPER
2026 QUESTIONS WITH ANSWERS
GRADED A+
◉What is the state space for particle filters?. Answer: continious
◉What is belief distirbution of particle filters?. Answer: multi-modal
◉When applied to robots, do you believe the Particle filters are exact
or approximate?. Answer: approximate
◉In regards to Particle 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: In tracking
domains, it scales better. but it's not easy to know yet.
◉What's the main key advantage of particle filters?. Answer: They
are very easy to program.
◉With regards to Particle Filters, is it possible that a single particle
is never sampled?. Answer: Yes
, ◉With regards to Particle Filters, Will orientation never play a role?.
Answer: No, orientation eventually will matter.
◉Suppose you run a particle filter with N=1 particles, what do you
expect will happen? (You may select multiple answers.). Answer: 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?. Answer: 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?.
Answer: 1 distinct track
◉For the bicycle model, will there be a single distinct track or 2
tracks left by the wheels after forward and rotation movement
(compound movement?. Answer: 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?. Answer: 1.
Radius , 2. Center point, 3. turning angle, 4. offset from center.
2026 QUESTIONS WITH ANSWERS
GRADED A+
◉What is the state space for particle filters?. Answer: continious
◉What is belief distirbution of particle filters?. Answer: multi-modal
◉When applied to robots, do you believe the Particle filters are exact
or approximate?. Answer: approximate
◉In regards to Particle 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: In tracking
domains, it scales better. but it's not easy to know yet.
◉What's the main key advantage of particle filters?. Answer: They
are very easy to program.
◉With regards to Particle Filters, is it possible that a single particle
is never sampled?. Answer: Yes
, ◉With regards to Particle Filters, Will orientation never play a role?.
Answer: No, orientation eventually will matter.
◉Suppose you run a particle filter with N=1 particles, what do you
expect will happen? (You may select multiple answers.). Answer: 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?. Answer: 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?.
Answer: 1 distinct track
◉For the bicycle model, will there be a single distinct track or 2
tracks left by the wheels after forward and rotation movement
(compound movement?. Answer: 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?. Answer: 1.
Radius , 2. Center point, 3. turning angle, 4. offset from center.
