Suppose that a robot operating in the environment shown in Figure C.1 can sense its environment and knows that it is either in a hallway (H), a dead end (D), a corner (C), or a “T”-junction (T). What...

Suppose that a robot operating in the environment shown in Figure C.1 can sense its environment and knows that it is either in a hallway (H), a dead end (D), a corner (C), or a “T”-junction (T). What is the probability that a robot starting in S1 will observe the sequence CHHTHC? (Implement the forward-backward algorithm.)  What is the optimal state sequence that explains the observation obtained in the previous problem?