Robo Quiz - Qurious'20 - Phase 2

Which of the following robots are FULLY autonomous :

• Ventana ROV (for underwater jelly-tracking)

• Minerva

• Mars Rover Spirit

• None of the above

Behavior based navigation is better than planning based navigation in some situations because:

• It uses a world model

• Behaviors cannot be fused through competitive coordination schemes

• It navigates by planning a path around obstacles

• None of the above

In general, a locomotion system can possibly have :

• Good stability and good controllability

• Good controllability and good maneuverability

• Good stability, good controllability and good maneuverability

• None of the above

A GPS array needs :

• 2 satellites to resolve 3 unknowns

• 3 satellites to resolve 3 unknowns

• 4 satellites to resolve 4 unknowns

• 5 satellites to resolve 5 unknowns

Dead reckoning is a good way to navigate because :

• It does not require proprioceptive sensors

• Odometer errors are non-deterministic

• Low-resolution encoders have noise

• None of the above

A robot using control inputs to predict position estimates is moving in the negative y direction in a global coordinate frame. With respect to the variance in its final position estimate, it will have:

• Greatest variance in the y direction

• Equal variance in x and y directions

• Least variance in the direction orthogonal to its motion

• None of the above

In comparison single-query vs multi-query Probabilistic Road Map (PRM) planning algorithms, which is true

• Single query is faster than multi-query

• The query step of multi-query planning is slow relative to single query planning

• In order to build a trajectory satisfying kinematic constraints, both require post-processing to smooth the trajectories.

• All of the above

In single-query planning, clustering occurs when

• Milestones are expanded by considering the dynamics of the vehicle

• Milestones selected for expansion are randomly picked with probability inverse to the local road milestone density

• Milestones selected for expansion are randomly picked with probability inverse to the number of milestones in the road map

• Milestones are expanded by randomly selecting control inputs to the robot

Which properties are true about graph searches with branching factor b and depth d

• Depth first searches always have O(bd) time complexity

• Depth first searches always take O(bd) space complexity

• Breadth first searches always take O(bd) time complexity

• Breadth first searches always take O(bd) space complexity

For A* , an admissible heuristic is one that

• Always over-estimates the path cost to the start mode

• Always under-estimates the path cost to the start node

• Always under-estimates the path cost to the goal node

• None of the above