2. Suppose that an agent is in a 33 maze environment like the one shown in Figure 4.19. The agent knows that its initial location is (1,1), that the goal is at (3,3), and that the four actions *Up*, *Down*, *Left*, "Right* have their usual effects unless blocked by a wall. The agent does *not* know where the internal walls are. In any given state, the agent perceives the set of legal actions; it can also tell whether the state is one it has visited before or is a new state. [10 Points] a. Explain how this online search problem can be viewed as an offline search in belief-state space, where the initial belief state includes all possible environment configurations. How large is the initial belief state? How large is the space of belief states? Ans: b. How many distinct percepts are possible in the initial state? c. Describe the first few branches of a contingency plan for this problem. How large (roughly) is the complete plan? Notice that this contingency plan is a solution for *every possible environment* fitting the given description. Therefore, interleaving of search and execution is not strictly necessary even in unknown environments