Page 206 - Introduction to AI Robotics

5.7 Exercises
Exercise 5.6 189
Consider the Pick Up the Trash example in Sec. 5.5.2. The example assumed the arena
was empty except for walls, cans, and trash cans. What would happen if there were
chairs and tables present? Could the gripper accidently scoop a chair or table leg?
How would the system react? What changes, if any, would need to be made to the
behavior table and FSA?
Exercise 5.7
Solve the 1994 International Association for Unmanned Systems Unmanned Ground
Vehicle problem using STRIPS (Ch. 2). Be sure to include a world model and a differ-
ence table.y
Exercise 5.8
Solve the 1994 AAAI Pick Up the Trash problem using STRIPS (Ch. 2). Be sure to
include a world model and a difference table.

Exercise 5.9
How is defining a robot’s behaviors linked to the robot’s ecological niche?y
Exercise 5.10
What is special about a primitive behavior in terms of perceptual and motor schema?y

Exercise 5.11
Construct a Behavioral Table of the behaviors needed for a robot to move from room
to room.y
Exercise 5.12
What are the two main deficits encountered when designing and implementing reac-
tive robotic systems?y

Exercise 5.13
Make up a task for a robot to complete. Describe what each of the 7 steps of the design
methodology would require you to do to complete the task.y
Exercise 5.14
Describe the two methods for assembling primitive behaviors into abstract behaviors:
finite state automata and scripts.y

Exercise 5.15
Assume that the CSM robot had been wider and needed to use an avoid-obstacle
behavior. Make a Behavior Table to include this new behavior.y
Exercise 5.16
Assuming the state of the robot in question 1, describe how the coordinated control
program should handle concurrent behaviors.y