Question for the exam (January 2024)

1. How are kinematics of nonholonomic robots defined?
2. How are general, affine and driftless models of kinematics defined?
3. What are standard models of wheeled robots?
4. What are definitions of fundamental concepts in probability?
5. How are normal distributions defined and parameterized?
6. What are properties of transformations of normally distributed random variables?
7. What are Markov processes and what tasks and algorithms are related to them?


8. What is a difference between incremental and absolute localization?
9. What is the procedure of odometry based localization?
10. What are the methods of absolute robot positioning?
11. What is sensor fusion?
12. How do general Bayes filters operate?
13. What are the assumptions and properties of KF?
14. What is EKF and how it differs from KF?


15. What are inputs and outputs of probabilistic localization? What are they in mapping?
16. How EKF is used in probabilitic localization?
17. What types of maps are used in robotics?
18. How to build an occupancy grid map?
19. What is definition of SLAM?


20. What are the main approaches to SLAM problem?
21. How is EKF-based SLAM implemented?
22. How does particle filter operate?
23. How does task planning differ from motion planning?
24. How are actions defined in the predicate logic?
25. How is description defined in PDDL?