考虑汽车高水平状态模型(这个是什么啊……),如下图。模型来源:Jeff Forbes, Tim Huang, Keiji Kanazawa, Stuart Russell,"The BATmobile: Towards a Bayesian Automated Taxi ",IJCAI 95. 图片来源:Boyen and Koller, "Tractable Inference for Complex Stochastic Processes", UAI98.
对于复杂的拓扑结构,使用节点的名称要比用数字表示方便得多。
names = {'LeftClr', 'RightClr', 'LatAct', 'Xdot', 'InLane', 'FwdAct', ...
'Ydot', 'Stopped', 'EngStatus', 'FBStatus', ...
'LeftClrSens', 'RightClrSens', 'TurnSignalSens', 'XdotSens', 'YdotSens', ...
'FYdotDiffSens', 'FclrSens', 'BXdotSens', 'BclrSens', 'BYdotDiffSens', ...
'SensorValid', &