16410f04_sam_fin

16410f04_sam_fin - 16.410: Principles of Autonomy and...

Info iconThis preview shows pages 1–6. Sign up to view the full content.

View Full Document Right Arrow Icon
16.410: Principles of Autonomy and Decision Making Sample Final Exam December 3 rd , 2004 Name E-mail Note: Budget your time wisely. Some parts of this exam could take you much longer than others. Move on if you are stuck and return to the problem later. Problem Number Max Score Grader Problem 1 20 Problem 2 20 Problem 3 20 Problem 4 27 Problem 5 30 Problem 6 30 Problem 7 14 Problem 8 15 Problem 9 15 Total 191
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Problem 1 – Search (20 points) Part A – Dijkstra’s Algorithm (6 points) Consider the following graph, with node 1 as the start, and node 9 as the goal. 1 2 Part A-1 – (2 points) How many times does the value at node 11 change? Part A-2 – (2 points) What is the length of the shortest route from start to goal? Part A-3 – (2 points) In what order are the nodes expanded? 2 3 4 5 6 7 8 1 1 9 10 11 12 13 14 1 1 1 1 1 1 1 1 1 1 5 1 12 3 1 1 1 1 1 1 1 0 1 9 1 8 7 1 1 1 1 1 1 1 1 1
Background image of page 2
Part B – A* Search (8 points) Consider the following maze. Actions are moves to the 8 neighboring squares. Each such move involves a move over a distance, which is the cost of the move. Let’s say that the distance to the left and right neighbors, and to the upper and lower neighbors is 1, and that the distance to the corner neighbors is 2 . Part B-1 – (4 points) The Manhattan distance is not an admissible heuristic. Can it be made admissible by adding weights to the x and y terms? (The Manhattan distance between two points <x1,y1> and <x2,y2> is [|x2 – x1| + |y2 – y1|]. A weighted version would be [ α |x2 – x1| + β |y2 – y1|].) . Part B-2 – (4 points) Is the L- distance an admissible heuristic? Why or why not? (The L- distance between two points <x1,y1> and <x2,y2> is (max(|x2 – x1|, |y2 – y1|) ). 3
Background image of page 3

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Part C – Properties of Search (6 points) Part C-1 – (1 point) How can A* be made to behave just like breadth-first search? Part C-2 – (1 point) How can depth-first search be made to behave just like breadth-first search? Part C-3 – (2 points) Is A* always the fastest search method? Explain your answer. Part C-4 – (2 points) Is breadth first always slower than depth first search? Explain your answer. 4
Background image of page 4
Consider the following set of initial facts and operators. Initial facts: (Item Brian) (Item Laptop) (City Boston) (City PaloAlto) (City Ames) (Plane USAir-1) (Plane USAir-2) (in Boston Brian) (in PaloAlto Laptop) (in Boston USAir-1) (in PaloAlto USAir-2) Operators: (operator board (parameters (Item x) (Plane y) (City z)) (preconditions (in z x) (in z y)) (effects (on y x)) ) (operator fly (parameters (Plane x) (City y) (City z)) (preconditions (in y x)) (effects (in z x)) ) (operator deplane (parameters (Item x) (Plane y) (City z)) (preconditions (on y x) (in z y)) (effects (in z x)) ) Part A – Get Brian from Boston to his laptop in Palo Alto (5 points) What is the goal fact? 5
Background image of page 5

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Image of page 6
This is the end of the preview. Sign up to access the rest of the document.

This note was uploaded on 11/07/2011 for the course AERO 16.410 taught by Professor Brianwilliams during the Fall '05 term at MIT.

Page1 / 29

16410f04_sam_fin - 16.410: Principles of Autonomy and...

This preview shows document pages 1 - 6. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online