Figure shows a blocks-world problem known as the Sussman anomaly. The problem was considered anomalous because the non interleaved planners of the early 1970s could not solve it. Write a definition of the problem in STRIPS notation and solve it, either by hand or with a planning program. A non interleaved planner is a planner that, when given two sub goals G1 and G2, produces either a plan for G1 concatenated with a plan for G2, or vice-versa Explain why a non interleaved planner cannot solve thisproblem.

A B B A Goal State Start State