hw2Solutions2013

# There is no chance of a mistaken reading the rover

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Unformatted text preview: = P(K|¬G) P(FF|¬TF) P(¬R|¬M) = 0.6 x 0.6 x 0.9 = 0.324 TF, G, ¬M, WD w3 = P(K|G) P(FF|TF) P(¬R|¬M) = 0.7 x 0.8 x 0.9 = 0.504 ¬TF, ¬G, M, WD w4 = P(K|¬G) P(FF|¬TF) P(¬R|M) = 0.6 x 0.6 x 0.3 = 0.108 ¬TF, G, M, ¬WD w5 = P(K|G) P(FF|¬TF) P(¬R|M) = 0.7 x 0.6 x 0.3 = 0.126 P(WD|K,FF,¬R) = (∑wi,WD=T)/(∑wi) = (0.504+0.108) / (0.432+0.324+0.504+0.108+0.126) = 0.410 Problem 5: HMMs and Particle Filtering You are an interplanetary search and rescue expert who has just received an urgent message: a rover on Mercury has fallen and become trapped in Death Ravine, a deep, narrow gorge on the borders of enemy territory. You zoom over to Mercury to investigate the situation. Death Ravine is a narrow gorge 6 miles long, as shown below. There are volcanic vents at locations A and D, indicated by the triangular symbols at those locations. The rover was heavily damaged...
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## This note was uploaded on 05/29/2013 for the course CSE 511a taught by Professor Robertpless during the Spring '13 term at Washington University in St. Louis.

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