Exercise 15.19 [battery-sequence-exercise]

This exercise analyzes in more detail the persistent-failure model for the battery sensor in Figure battery-persistence-figure(a) (page battery-persistence-figure).

1. Figure battery-persistence-figure(b) stops at $t=32$. Describe qualitatively what should happen as $t\to\infty$ if the sensor continues to read 0.

2. Suppose that the external temperature affects the battery sensor in such a way that transient failures become more likely as temperature increases. Show how to augment the DBN structure in Figure battery-persistence-figure(a), and explain any required changes to the CPTs.

3. Given the new network structure, can battery readings be used by the robot to infer the current temperature?