PES UNIVERSITY, Bangalore

(Established under Karnataka Act No. 16 of 2013)

Department of Computer Science & Engineering

Mobile and Autonomous Robots (UE21CS343BB7)

Question paper pattern:

The ESA format consists of 4 main questions per Unit, each worth 25 marks, total 100 marks.
Within each main question, there are 4 sub-questions: 3 questions worth 7 marks each and 1
question worth 4 marks.

Sample questions:

1. What are the characteristics of Autonomous Robots?

2. Explain the classification of sensors used in robotics. Provide specific examples for
each type and discuss the advantages and disadvantages of active sensors compared
to passive sensors.
3. List the characteristics that must be taken into account while trying to find the ideal
sensor and explain any five of them.
4. What is an inertial navigation system? Provide a block diagram of the INS.
5. What are the limitations of GPS?
6. Discuss the ethical challenges associated with autonomous projects and provide
strategies for addressing them effectively.
7. List any four types of sensors and write their applications.
8. Give 4 examples of heading sensors. Classify them as proprioceptive or exteroceptive.
9. What factors should be considered when selecting an encoder for a specific application
in robotics or automation, and how do these factors influence the choice of encoder?
10. What are the two types of sensor errors? Explain them.
11. With the help of a diagram, mention the different types of mechanical joints that
interconnect the peripheral parts of a robot.

12. Explain the steps in Affine invariant detection.

13. How is Markov Localization different from Kalman Filter Localization?
14. What are the four interrelated trends that correlate with temporal decomposition?
Explain each one of them briefly.
15. Derive an expression for the depth of an image obtained using stereo vision.
16. Explain in detail about Manoeuvrability in Robotics.
17. What are the applications of the following sensors?
 a) Lidar
b) Radar
c) Ultrasonic sensors
d) Wheel Encoders
18. What are rotational matrices in the kinematics of a robot? Give an example of a
rotational matrix and explain how it is used.
19. Explain how the Earth's rotation will affect a gyroscope's horizontal axis reading.
20. Identify and briefly explain the graph search techniques shown in below diagram.

a)

b)

c)