# PS2

Submit material you wish to deliver electronically via:

```  submit fredm ps2 zip-or-tar-file
```

In Probabilistic Robotics, read the remainder of Chapter 2 (Sections 2.3 through 2.7).

## Online Instruction

Work through lectures and embedded quizzes 11.1 through 11.17, “HMMs and Filters,” from the online Stanford AI class, starting here: https://www.ai-class.com/course/video/videolecture/138.

## Problems

1. In the Bayes Rule formula, instead of dividing by the denominator, the expression is often developed as a product with the factor η.

• What is the English phonetic spelling / pronunciation of this Greek character?
• What is its role in Bayes Rule calculations?

2. Figure 2.2 on page 25 of PR shows a dynamic Bayes network with three variables: x, u, and z.

• What is represented by each of these three variables? Hint: the answer is in the caption; you just have to match up the variables to

what they represent.

• What is the significance that u and z are shaded, while x is not?

3. In Exercise 2 on page 36 of PR:

• Solve (a).
• Write code for the simulator as suggested in (b), generating a simulated Markov process. You may use any language you like, but Python or C++ is suggested as those are the languages we will be using with ROS.