Misr University for Science and Technology Examiners: Dr.

Mohammed Marey
College of Information Technology

Subject: Introduction to Robotics (AI 231) Academic year: 2021-2022

Exam: (Midterm 2(second) ) 22/5/2022 Duration: 60 Minutes
Year: (1st term) 2nd year undergraduate Total Grade: 30 Marks
Answer the following questions

Question I: [15 points + 3 bonus]

A. What is the difference between [6 points]

a. Motion planning and trajectory planning
b. Repulsive potential and attractive potential
B. If you have a 2R planner robot manipulator as shown in Figure: Robot & obstacles,
a. Use Figure: C-space to explain the configuration space of the given robot.
b. What is the relation between figure: robot and figure C-space
c. Given the points 1, 2, 3, 4, 5, 6, 7 in Figure: c-space, what are the available
movements of the robot? Why? [12 points]

Figure: Robot & obstacles Figure: C-space

Question 2: [15 points + 3 bonus ]

A. If the robot in Figure: BUGs needs to move from the start position 𝑞𝑠𝑡𝑎𝑟𝑡 to the goal
position 𝑞𝑔𝑜𝑎𝑙 . If the robot initially turn left. [9 points]
1. Apply Bug 0, Bug 1, and Bug 2 algorithms (redraw the figure for each case)
2. Which algorithm is better in this example, why?
B. Use cell decomposition method to build the associated connectivity graph for the point
robot in Figure: Cell. Then find all the available paths from 𝑞𝑠𝑡𝑎𝑟𝑡 to 𝑞𝑔𝑜𝑎𝑙 . [9 points]

Figure: Cell 1 Figure: BUGs

Good Luck
Dr. Mohammed Marey,