Exercise 8.5 Suppose we must solve planning problems for cleaning a house.

Various rooms can be dusted (making the room dust-free) or swept (making the room have a clean floor), but the robot can only sweep or dust a room if it is in that room. Sweeping causes a room to become dusty (i.e., not dust-free). The robot can only dust a room if the dustcloth is clean; but dusting rooms that are extra-dusty, like the garage, cause the dustcloth to become dirty. The robot can move directly from any room to any other room.

Assume there only two rooms, the garage – which, if it is dusty, it is extradusty

– and the living room – which is not extra-dusty. Assume the following features:

• Lr dusty is true when the living room is dusty.

• Gar dusty is true when the garage is dusty.

• Lr dirty floor is true when the living room floor is dirty.

• Gar dirty floor is true when the garage floor is dirty.

• Dustcloth clean is true when the dust cloth is clean.

• Rob loc is the location of the robot.

Suppose the robot can do one of the following actions at any time:

• move: move to the other room,

• dust lr: dust the living room (if the robot is in the living room and the living room is dusty),

• dust gar: dust the garage (if the robot is in the garage and the garage is dusty),

• sweep lr: sweep the living room floor (if the robot is in the living room), or

• sweep gar: sweep the garage floor (if the robot is in the garage).

(a) Give the STRIPS representation for dust gar.

(b) Give the feature-based representation for lr dusty

(c) Suppose that, instead of the two actions sweep lr and sweep gar, there was just the action sweep, which means to sweep whatever room the robot is in.

Explain how the previous answers can be modified to handle the new representation or why they cannot use the new representation.