2. Solve the Pick up the trash problem using the STRIPS algorithm:

The pick up the trash problem requires the robot to pick up red coca-cola cans, CC, scattered around on the floor in an empty room, and throw them in a blue trashcan, TC, placed in the corner of the room. The robot can wander around the room, and has a gripper that is capable of gripping and releasing one coca can at a time. It can detect the red cola can and the blue trash can. Assume there is only one cola can, on the floor. The robot starts and ends next to the trash can.

The predicates to use in the problem are:

Found(x) : Robot located object xs position

NextTo(x) : Robot is next to object x

Holding(): Robot not holding anything, i.e., gripping hand empty

Holding(x): Robot is holding object x

ColaCan(x): x is a cola can

TrashCan(x): x is a trashcan

In(x, y): object x is inside object y

Show the following in your solution:

1. The initial state and the goal state description,

2. The definitions of these four operators: (not all the operators have ADD or DELETE conditions):

a. Locates(x) : robot finds/locates the position of object x;

b. Moves(x, y) : robot moves from location x to another location y that has already been found;

c. Picks up(x) : robot picks up an object it is currently next to. In this case, this object should be a cola can.

d. Drops(x, y) : robot drops an object x into another object y. In this problem, object y should be a trashcan and robot should be next to it when applying the Drop operator.

3. The world model and the goal stack updated during the planning process,

and 4. The complete final plan derived by the STRIPS algorithm. The plan should be in the form of a sequence of plan steps During the planning process, clearly mark the variable-constant unifications taken place. The final plan steps derived should be instantiated with constants.