HMM Robot Model Task
A robot is randomly moving in a 1-dimensional environment consisting of n distinct positions (= number
of states of hidden variable).
At each point in time, the robot is moving left/right with probability 0.3 each, and stays
in the current position with probability 0.4. (at boundary positions, the robot moves with probability
0.3 into the only possible direction, and stays with probability 0.7). At each point in time, the
robot receives a sensor reading, which can either indicate that there is a wall to the
left or right of its current position. The probability that it observes left
in position k is 1-(k-1)/n (i.e. the probability decays linearly from 1 in the leftmost position
to 0 in the rightmost position).
Manfred Jaeger
Last modified: Mon Dec 14 11:32:06 CET 2009