Write the conditional probability tables for the sensing model. Also provide the state probability distribution according to the dynamics model, given that the previous state was position 0 and the previous action was to move right.
 The dynamics model is given by the following table. Notice that since "sense door" and "sense light" are Boolean variables with 2element domains, the identities P(¬sense door  location) = 1  P(sense door  location) and P(¬sense light  location) = 1  P(sense light  location) are implied. Hence, we save half of the work by omitting the negation probabilites.
location 
0 
1 
2 
3 
4 
5 
6 
7 
8 
9 
10 
11 
12 
13 
14 
15 
P(sense door  location) 
0.1 
0.1 
0.8 
0.1 
0.8 
0.1 
0.1 
0.8 
0.1 
0.1 
0.1 
0.8 
0.1 
0.1 
0.1 
0.1 
P(sense light  location) 
0.1 
0.05 
0.05 
0.05 
0.1 
0.2 
0.4 
0.6 
0.8 
0.95 
0.99 
0.95 
0.8 
0.6 
0.4 
0.2 
 The following table describes the requested portion of the dynamics model. The complete dynamics model follows a similar pattern, but would require 2*16*16 = 512 table entries, one for each ordered triple (new location, old location, action).
new location 
0 
1 
2 
3 
4 
5 
6 
7 
8 
9 
10 
11 
12 
13 
14 
15 
P(new location  old location = 0, action = move right) 
0.1 
0.8 
0.074 
0.002 
0.002 
0.002 
0.002 
0.002 
0.002 
0.002 
0.002 
0.002 
0.002 
0.002 
0.002 
0.002 
