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ID2090 End Semester

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8 views3 pages

ID2090 End Semester

Uploaded by

ankithcs3328
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ID2090: Introduction to Scientific Computing Jan-May 24

Introduction to Scientific Computing


Indian Institute of Technology, Madras
Take Home End Semester
Maximum Marks: 100 Assigned: May 14, 2024
Deadline: May 19, 2024
General Instructions
• You can use any language to work on the assignment. You are supposed to do a write-up report for both
the questions in LATEX.
• For each question, create a folder called question_i in the home_assn directory. These folders should
contain the relevant files for that question_i.
• Then, you are supposed to tar the folder home assn and upload the tar file on Moodle.
• You are free to read through various resources. However, please ensure that you cite your sources to avoid
plagiarism. Any detected instances of plagiarism will result in penalties.
• Please contact your assigned TA for any doubts or queries regarding this assignment.
• The soft deadline for this assignment is 11:59 PM on May 19, 2024. Submissions after this deadline
will only get linearly decreasing maximum marks.
• The hard deadline for this assignment is 11:59 PM on May 21, 2024. Submissions after this deadline
will not be evaluated.

[50 marks] 1. Path planning:


Context:
• RRT is a sampling-based path planning algorithm used in autonomous robotics systems when the
map of the environment is available.
• The idea is to sample random points and add them to the nearest node till a point near the goal is
sampled.
• The ’nearness’ is defined by you as a tolerance parameter for the algorithm. You should also define
a max distance parameter that will be used if the distance from the nearest node to the randomly
chosen point is larger than the max distance value and a point at the max distance along the line
joining the nearest node and the randomly chosen point.
• If an obstacle is between the nearest node and the randomly chosen point, discard this point and
choose another point randomly.
Task:
Your task is to write a program that plots a rectangle of some arbitrary width and height, which acts
as the walls of the environment, and place 3-4 obstacles, which are rectangles of around one-tenth the
size of the bounding wall. The placement of the obstacles can be random or fixed. Choose two points -
start and goal. With this, you are expected to do the following:
[10 marks] (a) Implement the RRT algorithm in this environment.
[10 marks] (b) Since RRT is a random sampling algorithm, the path produced by it is not smooth, which in real
life is not a feasible trajectory. So, use the path from the previous part and do trajectory smoothing
on it.
[10 marks] (c) RRT also doesn’t consider the spacing necessary between obstacles and the path that a bot might
follow. So, implement RRT such that the random points are more likely at a spacing away from
the edges of the obstacle. This spacing is a parameter you can set as you see fit.

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ID2090: Introduction to Scientific Computing Jan-May 24

Figure 1: Test environment for Part 3

[10 marks] (d) A greedy approach would be choosing points nearer to the goal more likely. Implement this in RRT
algorithm. The nearer here can be any logical distance function such as L1 or L2 norm.
[10 marks] (e) Write a report on your implementation of the previous parts and give plots on the average number
of nodes needed to reach the goal - this is done by running the simulation a large number of times
and taking the average; a good number would be 1000 for each variant. Setup an environment as
shown Figure 1 to check your implementation of RRT from part 3 and write about it in the the
report

[50 marks] 2. Automata :


Context:
• In this course, you have learned about Regular Expression and may have wondered how a regular
expression matching works.
• Basically the regular expression is converted to a Finite state machine (FSM).
• FSM has several states and transitions that define the machine’s behavior. It reads an input string
one character at a time, and each makes the machine transition. That process is often called
consuming a character because each character makes a single change in the machine.
Task:
In this task, you will implement a basic regex engine that converts a regular expression into a basic finite
state machine, in which we pass a string and match the expression.
You need to do the following:
[10 marks] (a) Implement a program that converts a regular expression into an FSM. A suggestion would be to
use OOPS to build the state machine. machine.

[10 marks] (b) Write a report on your implementation of a regular expression engine and give the finite state
machine’s state diagram for the below cases.
The FSM should be able to match:
[5 marks] (a) Direct matches
[5 marks] (b) Any number of characters
[10 marks] (c) Wildcard Character
[10 marks] (d) Multiple matches

2
ID2090: Introduction to Scientific Computing Jan-May 24

Input:
Test case 1:
Regular Expression: abcd
Sample string: abcdef
Test case 2:
Regular Expression: a*c*
Sample string: baacc
Test case 3:
Regular Expression: a*
Sample string: baaccaa

Sample Output:
Output 1:
abcd
Output 2:
baacc
Output 3:
baaccaa
1

1 The color of the matched part is up to you to choose.

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