Exercise 15.7 [hmm-robust-exercise]

In Section hmm-localization-section, the prior distribution over locations is uniform and the transition model assumes an equal probability of moving to any neighboring square. What if those assumptions are wrong? Suppose that the initial location is actually chosen uniformly from the northwest quadrant of the room and the action actually tends to move southeast[hmm-robot-southeast-page]. Keeping the HMM model fixed, explore the effect on localization and path accuracy as the southeasterly tendency increases, for different values of $\epsilon$.