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Question 8 (20 pts): Explain Markov localization on the example shown in the figure. prior belief BOTRON uncertain motion (odometry) ----ACT --> 16 prediction update 3 Z 21 27 a 2012 6. perception Map SEE + 13 15 16 17 123OTI10 Multiplication and normalization (m) measurement update

Answer 1

mission commands. Ans. "pouition global EnowledgeLocalization map building Cog nition Parth Planning map data baje. Environmental model Path See-think -Act local map Path Erecution Information Extraction Actuator Commands Raw data Real Wold or oiz Environment actin Sensing * The robot eitimate iti pasition cuing perceured information and map. * The robot estinates iti brief state aborit it position through ACT and SEE SEE &ACT to improve belief state location unknown. Robot is placed somewhere in environment > pillar SEE : It queries it seruors to find itself neet to a -> Im foiward. G queries ito senson again > ACT: Robot mores > Beleif update (information funion), only of roboti previous stati fundlion , 4 Markor anumption- Outrut is and it moit necent adtions (odometry) Ut and perception z4 motion Contral 1> Perception