Page 366 - Introduction to AI Robotics

9.7 Exercises
Exercise 9.7 349
Describe each in one or two sentences: gateway, image signature, visual homing,
viewframe, orientation region.
Exercise 9.8
Create a topological map showing landmarks, landmark pair boundaries, and orien-
tation regions for an area of campus.
Exercise 9.9
Consider the spatial hierarchy of Kuipers and Byun. Do these three levels fit naturally
within a Hybrid architecture? How would they be implemented in a state-hierarchy
style? A model-oriented style?
Exercise 9.10
Did Minerva use topological navigation? What did it use for landmarks?
Exercise 9.11 [World Wide Web]
Visit the Minerva site as http://www.cs.cmu.edu/ Minerva. Write a one-page paper
summarizing the project.
Exercise 9.12 [Advanced Reading]
Read the scientific papers at the Minerva web site. Describe:
a. The path planner used and evaluate it using the criteria presented in this overview.
b. Discuss the impact of sensor uncertainty on Minerva’s navigation and how it was
addressed.
c. List which of the four functions of spatial memory were used.
Exercise 9.13 [Advanced Reading]
Read the article about the two winners of the 1992 AAAI Mobile Robot Competition
in Congdon et al. 38 Describe each team’s use of landmarks and topological navigation
strategy.
Exercise 9.14 [Programming]
Look up the following algorithms and describe how they work. Can they be used
interchangeably?
a. Dijkstra’s single source shortest path
b. hill-climbing
Exercise 9.15 [Programming]
Design a visual landmark and implement a hill-climbing algorithm to localize the
robot relative to the landmark.

Exercise 9.16 [Programming]
Design 4 unique landmarks.