Probabilistic Roadmaps MCQs December 22, 2025August 10, 2024 by u930973931_answers 40 min Score: 0 Attempted: 0/40 Subscribe 1. What is the primary purpose of a Probabilistic Roadmap (PRM) in robotics? (A) Path Planning (B) Localization (C) Object Detection (D) Motion Control 2. In a Probabilistic Roadmap, what is the main strategy used to generate the roadmap? (A) Grid-based sampling (B) Deterministic sampling (C) Sequential sampling (D) Random sampling 3. What are the two main phases of the PRM algorithm? (A) Sampling and Path Optimization (B) Path Generation and Execution (C) Roadmap Construction and Query Phase (D) Collision Detection and Avoidance 4. Which of the following is not a step in the roadmap construction phase of PRM? (A) Node Generation (B) Path Execution (C) Collision Checking (D) Edge Generation 5. What is the purpose of the query phase in a PRM? (A) To find a path from start to goal (B) To create nodes in the environment (C) To optimize the generated roadmap (D) To detect obstacles 6. What type of environment is PRM particularly effective in? (A) Large, complex, and high-dimensional spaces (B) Highly dynamic environments (C) Fully structured environments (D) Low-dimensional, simple environments 7. Which of the following is true about the nodes in PRM? (A) They are deterministically placed (B) They are randomly sampled configurations (C) They represent the obstacles in the environment (D) They are dynamically changing over time 8. In PRM, what does an edge between two nodes represent? (A) The shortest path between the nodes (B) A collision-free path between the nodes (C) The distance between the nodes (D) The obstacle density between the nodes 9. What does the āprobabilisticā aspect of PRM refer to? (A) The certainty of finding a solution (B) The random nature of node sampling (C) The use of probabilistic models for motion (D) The likelihood of avoiding obstacles 10. Which of the following is a common application of PRM? (A) Autonomous vehicle navigation (B) Weather forecasting (C) Human-computer interaction (D) Image recognition 11. What is the role of collision detection in PRM? (A) To ensure nodes are placed in free space (B) To optimize the path (C) To determine the shortest path (D) To dynamically update the roadmap 12. Which of the following techniques can be used to improve the quality of a PRM? (A) Increasing the number of nodes (B) Decreasing the number of edges (C) Reducing collision detection accuracy (D) Limiting the roadmap size 13. In PRM, how are start and goal positions incorporated into the roadmap? (A) They are pre-defined in the roadmap (B) They are connected to the nearest roadmap nodes (C) They are randomly generated as nodes (D) They are excluded from the roadmap 14. Which algorithm is often combined with PRM to refine the final path? (A) Genetic algorithm (B) Dijkstraās algorithm (C) A* algorithm (D) Greedy algorithm 15. What is the main advantage of using PRM in high-dimensional spaces? (A) Faster computation time (B) Reduced memory usage (C) Scalability to complex environments (D) Guaranteed solution 16. Why might PRM not be suitable for highly dynamic environments? (A) It requires too many nodes (B) It cannot handle real-time changes (C) It is too slow to compute (D) It depends on deterministic paths 17. In PRM, what happens if a sampled node lies within an obstacle? (A) The node is included in the roadmap (B) The roadmap is recalculated (C) The node is moved to the nearest free space (D) The node is discarded 18. What is the typical representation of a PRM? (A) A binary tree (B) A graph (C) A matrix (D) A list 19. Which factor is critical in determining the success of a PRM? (A) Collision detection speed (B) Roadmap size (C) Sampling method (D) Node density 20. What is one of the main limitations of PRM? (A) It requires too much memory (B) It does not guarantee the shortest path (C) It is not suitable for high-dimensional spaces (D) It is unable to handle obstacles 21. How can the computational efficiency of a PRM be improved? (A) By reducing the number of sampled nodes (B) By increasing the number of edges (C) By using a simpler collision detection algorithm (D) By parallelizing the sampling and collision detection 22. Which variant of PRM is designed to improve performance in narrow passages? (A) Lazy PRM (B) Gaussian PRM (C) Bridge Test PRM (D) Probabilistic Roadmap of Trees (PRT) 23. What is a āmilestoneā in the context of PRM? (A) A critical edge (B) A goal node (C) A failed path (D) A sampled node in the roadmap 24. What does ālazy PRMā refer to? (A) A PRM that uses fewer nodes (B) A PRM that only samples nodes close to the goal (C) A PRM that postpones collision checks until the query phase (D) A PRM that uses deterministic sampling 25. How is a roadmap typically stored in a PRM algorithm? (A) As a binary search tree (B) As a hash table (C) As an adjacency list (D) As a queue 26. What is the purpose of the ālocal plannerā in PRM? (A) To connect nodes with edges (B) To check for collisions (C) To generate nodes (D) To optimize the final path 27. Which of the following is a typical metric used to measure the distance between nodes in PRM? (A) Hamming distance (B) Manhattan distance (C) Euclidean distance (D) Chebyshev distance 28. In which of the following scenarios is PRM most likely to fail? (A) Low-dimensional, simple environments (B) High-dimensional spaces with narrow passages (C) Large, open spaces with few obstacles (D) Dynamic environments with moving obstacles 29. What is the significance of the āroadmap connectivityā in PRM? (A) It determines the number of nodes in the roadmap (B) It influences the collision detection accuracy (C) It affects the ability to find a path from start to goal (D) It optimizes the roadmap construction speed 30. What does PRM rely on to ensure completeness? (A) Collision avoidance (B) Random sampling (C) Deterministic paths (D) Dense sampling 31. Which of the following is not an enhancement commonly applied to PRM? (A) Adaptive sampling (B) Dynamic sampling (C) Deterministic sampling (D) Biased sampling 32. In PRM, what is the purpose of using a āsampling strategyā? (A) To ensure nodes are evenly distributed (B) To minimize the number of edges (C) To ensure a diverse set of nodes (D) To maximize the number of nodes 33. What is the typical complexity of constructing a PRM? (A) O(n) (B) O(n log n) (C) O(nĀ²) (D) O(nĀ³) 34. Which of the following methods can be used to improve the exploration of narrow passages in PRM? (A) Gaussian sampling (B) Uniform sampling (C) Random sampling (D) Lazy collision checking 35. What does the āroadmap refinementā process in PRM aim to do? (A) Increase the number of nodes (B) Reduce the roadmap size (C) Improve path quality and connectivity (D) Simplify the collision detection process 36. What is a key challenge when implementing PRM in a high-dimensional space? (A) Reduced pathfinding accuracy (B) Low collision detection accuracy (C) Limited node placement (D) High computational cost 37. In PRM, how is the ālocal plannerā typically used? (A) To connect nodes in free space (B) To validate node placement (C) To generate new nodes (D) To detect obstacles 38. Which technique is often used alongside PRM to refine the path between nodes? (A) Graph Search Algorithms (B) Heuristic Algorithms (C) Monte Carlo Methods (D) Local Optimization Algorithms 39. What is the main advantage of using PRM over grid-based path planning methods? (A) Better handling of high-dimensional spaces (B) Guaranteed pathfinding (C) Lower memory usage (D) Faster computation time 40. How can the accuracy of a PRM be improved when dealing with obstacles? (A) By increasing the number of nodes (B) By using a more precise collision detection method (C) By reducing the number of edges (D) By simplifying the roadmap construction