In this exercise, we analyze in more detail the persistent-failure model for the battery sensor in Figure 15.13(a).

a. Figure 15.13

(b) stops at t = 32. Describe qualitatively what should happen as t i. oo if the sensor continues to read 0.

b. 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 15.13(a), and explain any required changes to the CPTs.

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