Homework 5
16-311 Introduction to Robotics
Prof. Howie Choset

• (50%) Group: Lab 4 - Trajectory Following.

• (50%) Individual: Answer the following questions.
  • Advanced Where's Waldo (35%):
    • In this assignment you will again be looking for Waldo. However, this time you will be required to find him more reliably.

    • The program should work exactly the same as for HW 2. You need to automatically read in findWaldo.pgm or findWaldo.png (both will be available) and write the results to waldo.txt. Don't prompt for input. Yes I realize the starter code asks you to type in a filename, this can be used for debugging, but in the final version, make it automatic or you will lose points.

    • The assignment is the same as before, but the grading rubric has changed. It is now as follows:
      • +5% per waldo found
      • -15% per inacurate position reported
      • min score 0%, max score 100%
    • Note that finding all non-rotated waldos will get you 95% on this section.

    • Refer back to HW 2 to see the original assignment and sample waldo search images.

    • Hint: HW4 is likely to be very helpful for this.

    • As with the last assignment, functions that do most of the work of your program should be avoided. If you want to convolve, use the convolution method you wrote before, etc. If you wrote a convolution method in one language and would like to use the other for this assignment, you may use convolution packages/builtins.

  • Convolve the following image with the given filters (10%).
    image:
    • [ 5 5 5 9 9 9 8 7 6 5 -5 0 0 0 0 ]
      
    
    filters:
    • [ -1 1 ]
      
    • [ 1 -1 ]
      
    • [ 1 0 0 1 ]
      
    • [ 1 0 0 -1 ]
      
    You may deal with the edges as you wish (padding with zeros, using nearest neighbor, and cropping are all valid).
    Plot the results using a computer. Label the graphs with the input, filter, and output as before.

  • For the closed loop response in Figure 1, draw the resulting response if the proportional gain were increased. Describe in a few words what happens. (5%)

    
    Figure 1
    

    Turn in:

    • Submit a link to your executable or a copy of your m-file to the head TA by e-mail.
    • Either submit a hard copy of your answers to the other questions at the beginning of class the day it is due, or include a link to a website with the same in your submission e-mail.

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  Last updated 2/3/10 by Alan Kraut