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you to define conditional distributions on the color that the robot will observe in a

room, given the actual color of that room. Be sure to read the Design Lab 11 handout

before working on this problem.

Look at the software documentation for the di st module. Throughout this problem, the

di st module has been imported, so you can get at all the contents by using di st . x.

You can assume that the following functions and variables, described in the lab

handout, are already defined:

makeObser vat i onModel ( hal l wayCol or s, obsDi st ) -- see lab handout.

st andar dHal l way -- list of the colors of each room in the hallway, going from left to

right. In this problem, this is

[ ' whi t e' , ' whi t e' , ' gr een' , ' whi t e' , ' whi t e' ] .

possi bl eCol or s -- list of all the possible colors that could be observed. In this

problem, this is

[ ' bl ack' , ' whi t e' , ' r ed' , ' gr een' , ' bl ue' ]

In your answers, feel free to define any auxiliary functions that you may need.

Part 1: White == Green

Define an observation noise model (that is, a conditional distribution over the observed

color given the actual color of a room) in which white and green are indistinguishable,

in the sense that the robot is just as likely to see white as to see green when it is in a

white square or a green square, but where all other colors are observed perfectly. This

function should return a di st . DDi st over observed colors, given the actual color passed

in as an argument.

Part 2: White <-> Green

Give an observation noise distribution in which white always looks green, green always

looks white, and all other colors are observed perfectly.

Problem Wk.11.1.1: Observation Models

Part 3: Noisy

Define an observation noise distribution in which there is a probability of 0.8 of

observing the actual color of a room, and there is a probability of 0.2 of seeing one of

the remaining colors (equally likely which other color you see). All possible colors are

available in the list called possi bl eCol or s.

Part 4: Observation Models

The observation noise distributions that you have defined so far encode the error model

for observation in a way which is independent of location. But, ultimately, we need to

be able to obtain a probability distribution over the possible observations (colors) at a

particular location along the hallway. The function makeObser vat i onModel allows us to

construct such a model, given a list of colors, such as st andar dHal l way, and an

observation noise distribution, such as you've written above.

Enter the expression for creating the full observation model for the st andar dHal l way

(assume it's already defined), with the observation noise distribution noi syObs (assume

it's already defined).

MIT OpenCourseWare

http://ocw.mit.edu

6.01SC Introduction to Electrical Engineering and Computer Science

Spring 2011

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.

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