Robot Problem.xlsx

	A	B	C	D	E	F	N	O	P
1	Robot Problem
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3	Transition Matrix	State 1	State 2	Index
4	State 1	0.7	0.3	1
5	State 2	0.4	0.6	2
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8	Problem Statement
9		Sensor 1 Correct	Sensor 1 Wrong	Sensor 2 correct	Sensor 2 Wrong
10	State 1	0.8	0.2	0.3	0.7
11	State 2	0.4	0.6	0.9	0.1
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13	Emission Probability	S1_C means Senseor 1 reads Correct; S1_2 measn Sensor 1 reads Wrong.					Transposed Emission Probablities
14								State 1	State 2
15		S1_C & S2_C	S1_W & S2_C	S1_C & S2_W	S1_W & S2_W		S1_C & S2_C	0.24	0.36
16	State 1	0.24	0.06	0.56	0.14		S1_W & S2_C	0.06	0.54
17	State 2	0.36	0.54	0.04	0.06		S1_C & S2_W	0.56	0.04
18							S1_W & S2_W	0.14	0.06
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22		Evidence	State 1	State 2	Column with Max Probabilities	MLE Sequence
23	Initial	N/A	0.5000	0.5000
24	Time 1	S1_C & S2_W	0.2800	0.0200	1	State 1
25	Transition		0.1960	0.0840
26	Renormalized Time 1		0.7000	0.3000
27	Time 2	S1_C & S2_C	0.1680	0.1080	1	State 1
28	Transition		0.1176	0.0504
29	Renormalized Time 2		0.7000	0.3000
30	Time 3	S1_W & S2_C	0.0420	0.1620	2	State 2
31	Transition		0.0648	0.0972
32	Renormalized Time 3		0.4000	0.6000
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