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Carefully read the statement and determine whether it is true (T) or false (F). The high computational demands of distance transform and skeletonization methods render them impractical for large-scale maps, prompting the development of more efficient probabilistic approaches. Among these, the probabilistic roadmap (PRM) method stands out as one of the most widely recognized techniques. This model randomly samples the workspace to address computational limitations effectively.

Large Question. Please refer to the following figure. In real-world applications, deploying multiple robots dynamically to their designated locations as coordinated teams while minimizing the distance cost between robots and their assigned goals is a challenging, NP-hard problem. To address this, we consider a framework for team-based multi-robot task allocation and path planning, designed specifically for robot exploration missions. This approach utilizes an optimization-based distance-minimization model. Tasks are first divided into sub-tasks, considering interdependence and relations among robots. Robots are clustered into teams based on these relationships and the nature of the tasks. Each team of robots, initially enclosed within arbitrary shapes due to their intercorrelations, is approximated and relaxed into circular formations. This approximation simplifies the optimization problem and focuses on minimizing distances both between teams and between individual robots and their goals. The problem is formulated as an optimization task that aims to minimize total traveled distance while maintaining task feasibility. After solving the optimization problem, the teams are deployed to their respective locations. Once teams reach their approximate positions, the individual robot locations within each team are fine-tuned using graph-based methods, ensuring accurate task execution and minimal path overlap. Explain how this multi-robot multi-task allocation system works. Describe this algorithm in pseudo-code form.   [Note, if students use ChatGPT to obtain solution, the entire exam will be zero!] If you are comfortable to draw figures or answer your questions using computer’s app, please draw figures online.  However, it is hard to draw figures and diagrams using apps.  Alternatively, please have enough empty papers ready on your hands in the exam.  If questions require you to draw figures or diagrams, please feel free to draw by hands on your empty papers.  Please immediately scan or take photos of papers with figures or diagrams by cell phone and quickly email me (no more than 15 minutes after your exam). Thanks for your corporation!

Which monarch was known as the “Sun King”?

Which sea separates Australia from New Zealand?

What is true concerning the interpretation of this fetal monitor strip? Select all that apply  

A corporation owns many acres of timber, which it acquired three years ago, and which has a $120,000 basis. The timber was cut last year for use in the corporation’s business. The FMV of the timber on the first day of last year was $270,000. The corporation made the appropriate election to treat the cutting as a sale or exchange. The timber is sold for $300,000 this year. The tax result this year is

Type I interferon (IFN-αβ), which plays a critical role in anti-viral immunity, is:

Choose the two (2) enteral drug administration routes:

Which of the following statements is true regarding inflammasome

Dopamine is administered to a client who has been experiencing hypotensive episodes to increase BP and improve perfusion of the organs.  Other than an increase in blood pressure, which indicator would the nurse use to evaluate a successful response?