Download Institutionen för datavetenskap

UMEÅ UNIVERSITET
Institutionen för datavetenskap
Thomas Hellström
Intelligent Robotics
2008-06-05
9.00 – 15.00
Exam
Intelligent Robotics
Department of Computing Science
English dictionary allowed
IMPORTANT:
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You may answer in Swedish or English
“briefly” means 1 or 2 sentences
Answers with a lot of irrelevant information will
not be judged favorably
Good luck!
Umeå universitet 901 87 Umeå. Telefon: 070-52 15 786, 090-786 77 59 . E-post: [email protected]
UMEÅ UNIVERSITET
Institutionen för datavetenskap
Thomas Hellström
Intelligent Robotics
2008-06-05
9.00 – 15.00
1. What did Brooks mean by expressions such as “Elephants don’t
play chess”?
(2p)
2. Fill in a behavior table for an autonomous vacuum cleaning robot. The
robot should vacuum an area enclosed by a detectable electrical border.
Within this area, it should move around randomly. It should stop if being
kicked.
(4p)
3. You are programming a robot for exploration of Mars. It should use a
combination of autonomy and tele-operation. Describe when and why
different autonomy modes are advantages in different situations.
(4p)
4. Sensor models
a) Describe with mathematical expressions what it is. Explain all used
symbols.
b) Describe mathematically and graphically a suitable sensor model
for laser scanners. Explain the function of the different parts of
the model.
(4p)
(4p)
5. Describe how genetic algorithms can be used to teach an autonomous
robot to find and grip a soda can.
(4p)
6. Design a robot behavior for “going home”, where home is placed in the
middle of the room and has to be entered from a specific direction. The
behavior should be based on potential fields.
(4p)
7. Histograming is sometimes used as a way to measure how similar two
(4p)
images are. Give a mathematical expression that expresses this similarity.
8. Describe subgoal obsession in path planning, and two ways to deal with it. (4p)
9. Describe the principal differences between industrial robots and the
robots we have been working with in the course.
Umeå universitet 901 87 Umeå. Telefon: 070-52 15 786, 090-786 77 59 . E-post: [email protected]
(4p)
UMEÅ UNIVERSITET
Institutionen för datavetenskap
Thomas Hellström
Intelligent Robotics
2008-06-05
9.00 – 15.00
10. Describe briefly how the following sensors work:
a) laser scanner
b) infra-red reflex sensor
c) GPS
d) light striper
e) stereo cameras
f) ultra-sonic sonar
g) INS
(2p)
(2p)
(2p)
(2p)
(2p)
(2p)
(2p)
11. Describe an application where reinforcement learning may be used for
robot learning.
(4p)
12. Describe how wavefront based path planning works.
(4p)
13 Describe your personal contribution in the last assignment (the project) (4p)
In particular, describe the specific problems and the chosen solutions.
14. What may a World model contain, apart from regular map information? (4p)
15. You are responsible for programming a robot that should move between
two points (A and B in the picture) with a potential-field architecture.
The black dots are obstacles.
a) Name the primitive behaviors that should be included
(2p)
b) How is coordination handled?
(2p)
c) How can you, as the programmer, control the trade-off between
“safe” and “fast” paths?
(2p)
A
B
Umeå universitet 901 87 Umeå. Telefon: 070-52 15 786, 090-786 77 59 . E-post: [email protected]