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WorksheetsRobo Quiz - Qurious'20 - Phase 2
Total questions: 10
Worksheet time: 3mins
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
