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Exercise 6 . 5 Suppose you must solve planning problems for cleaning a house. Various rooms can be dusted ( making the room dust -
Exercise Suppose you must solve planning problems for cleaning a house. Various rooms can be dusted making the room dustfree 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 ie not dustfree The robot can only dust a room if the dustcloth is clean; but dusting rooms that are extradusty, like the garage, cause the dustcloth to become dirty. The robot can move directly from any room to any other room.
Assume there are only two rooms, the garage which, if it is dusty, is extradusty and the living room which is not extradusty. Assume the following features:
Lrdusty is true when the living room is dusty.
Gardusty is true when the garage is dusty.
Lrdirty floor is true when the living room floor is dirty.
Gar dirtyfloor is true when the garage floor is dirty.
Dustclothclean is true when the dust cloth is clean.
Robloc is the location of the robot, with values garage,
Suppose the robot can do one of the following actions at any time:
move: move to the other room
dust: dust the room the robot is in as long as the room is dusty and the dustcloth is clean
sweep: sweep the floor the robot is in
a Give the STRIPS representation for dust. Hint: Because STRIPS cannot represent conditional effects, you may need to use two separate actions that depend on the robot's location.
b Give the featurebased representation for lr dusty.
c Suppose that the initial state is that the robot is in the garage, both rooms are dusty but have clean floors and the goal is to have both rooms not dusty. Draw the first two levels with two actions, so the root has children and grandchildren of a forward planner with multiplepath pruning, showing the actions but do not give the state descriptions Show explicitly what nodes are pruned through multiplepath pruning.
d Pick two of the states at the second level after two actions and show what is true in those states.
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