In this question you will develop alternate versions of the sensor model used in the simulation developed previously. a. Add zero-mean Gaussian noise (with standard deviation σd ) to the range...

In this question you will develop alternate versions of the sensor model used in the simulation developed previously. a. Add zero-mean Gaussian noise (with standard deviation σd ) to the range returned by the idealized sensor. b. Add zero-mean Gaussian noise (with standard deviation σα) to the direction in which the sensor points when returning the range corrupted by σd above.