Proposed Exam Questions from students

Proposed Exam Questions from students (some of these may turn up on the exam!)
24-354 General Robotics
Fall-03. Prof. Howie Choset

1) discuss the tradeoffs between the following planning algorithms:
- wavefront
- bug2
- voronoi graphs
- visibility graphs
- probabilistic methods
which would you choose for navigating a robot through a large unknown space?
2) draw the boustrophedon decomposition and adjacency graph for a given world. Give the most efficient paths with respect to L1 and L2.
3) What are the properties of a roadmap and how is each important to creating a path?
4) Why is it necessary to have a polygonal world for trapezoidal decomposition? How does boustrophedon decomposition bypass this constraint?
5)

Write clearly explained pseudocode as per the last exam to transform the image on the left into the image on the right. Clearly state any assumptions you may make about line thickness, margins, etc.
6) You have been asked to design a robot to automatically vacuum the floor. List at least 5 important criteria for your design. Explain your criteria and why you picked them.
7) How many degrees of freedom are there in the human arm? Ignore the fingers and thumb.