Path Planning

$4$a$.$ In the $A^{**}$ search, what is the evaluation function at node $n?$ Give the precise mathematical

notation.

$4$b$.$ In the $A^{**}$ search, what is the admissibility condition that must be true for the estimate of the

cost of traveling from node $n$ to the goal?

$4$c$.$ How can wavefront propagation be used to deal with traversable, but less desirable, terrains

for robot navigation?

$4$d$.$ What is path relaxation?

Localization

For each of the following statements, circle $T$ or $F($for True or False$),$ indicating whether the

statement is true or false:

T F Monte Carlo Localization uses multiple discrete "particles" for maintaining position

estimates.

T F A physics$-$based spring mesh approach to localization can correct previous errors in

position estimation.

T F Using orientation regions for outdoor localization requires the robot to access range

information.

T F Landmark$-$based approaches to localization are typically more computationally

complex than scan$-$based matching approaches.

T F Robot localization when following paths derived from meadow maps is generally

easier than robot localization when following paths derived from Voronoi graphs.

T F Visual homing uses image signatures to enable robots to navigate relative to a given

location without the need for other techniques of localization.

T F Natural landmarks are placed for the purpose of aiding navigation.