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← 01-31 Move Function Solution

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Showing Revision 2 created 04/11/2012 by Anna Chiara Bellini.

  1. Here is the solution.
  2. We start with the empty list. We go through all the elements in p.
  3. This is the tricky line.
  4. We will construct Q element-by-element by accessing the corresponding p,
  5. and p is shifted by U and if this shift exceeds the range of p on the left,
  6. we apply the modulo operator with the number of states as an argument.
  7. In this case, it'll be 5.
  8. Now, the reason why there is a minus sign is tricky.
  9. To shift the distribution to the right, U = 1,
  10. we need to find in p the element 1 place to the left.
  11. Rather than shifting p to the right directly,
  12. what I've done is I've constructed q by searching for
  13. where the robot might have come from.
  14. That's of course, in hindsight, from the left.
  15. Therefore, there is a minus sign over here.
  16. So think about this, as it's a little bit nontrivial,
  17. but it's going to be important as we go forward and define
  18. probabilistic convolution and generalize this to the noisy case.