FOr problem 2: Consider the following description

Look at the problem above and the picture shown in figure 10.14.We are going to make the following modifications and clarifications to the situation:

1. To make things simple, we assume there are only 3 rooms (Room1, Room2, and Room3)not 4, and there areonly2 boxes(Box1 and Box2)not 4. The robot, Shakey, is in Room3, Box2isinroomRoom1, andBox2is inroomRoom1.The problem to be solved is to grab and move both Box1andBox2to the Destination, which is at location L3(a constant)inside of Room3(L3is not at the door to the room).

2. The light is on in the Corridor and the room where Shaky initially is (Room3). But the other rooms are dark and Shaky must turn the switch on before it enters into a dark room.

3.Each switch(e.g. Switch1)is considered to be at the same location as the door(e.g. Door1)for that given room(e.g. Room1).So if Door1is located at thelocationLD1, then assume that the location of Switch1is alsoLD1, i.e. At(Door1, LD1)and At(Switch1, LD1).Also the locations of the doors(e.g. LD1)are assumed to be both inside the given room(e.g. Room1)and inside the Corridor.

4.As stated in the book the actions Go(x,y,r) and Push(x,y,r), can be carried out if locations x and y are both inside the same room, r. Hint: You can treat Corridor as a room with 3 doors at 3 different locations inside it. To make things simple, we dont worry about the directions, so for example we assume that once Shaky reaches a location, it does not need to change its direction before it starts to push.

Problem 2(20points) Write a complete set of all the necessary(but not more than needed)predicates and constants, and define the action schemas for Shakys actions, Go, Push, Turnon, Turnoff, ClimbUp, ClimbDown, and if you think some other actions may be necessary. Show the initial and the goal states for the given problem using these predicates and constants. You need to determine the appropriate actions arguments and definitions.

Switch 4 Door 4 Room 4 Switch 3 Door 3 Room 3 Shakey Comidor Switch 2 Door 2 Room 2 Switch I Box 3 Box 2 Door 1 Room 1 Box 4 Box 1 Figure 10.14 Shakey's world. Shakey can move between landmarks within a room, can pass through the door between rooms, can climb climbable objects and push pushable objects, and can fip light switches. 10.4 The original STRIPS planner was designed to control Shakey the robot. Figure 10.14 shows a version of Shakey's world consisting of four rooms lined up along a corridor, where each room has a door and a light switch. The actions in Shakey's world include moving from place to place, pushing movable objects (such as boxes), climbing onto and down from rigid objects (such as boxes), and tuming light switches on and off. The robot itself could not climb on a box or toggle a switch, but the planner was capable of finding and printing out plans that were beyond the robot's abilities. Shakey's six actions are the following: Go(x,y,r), which requires that Shakey be At r and that r and y are locations In the . Push a box b from location r to location y within the same room: Push(b, r, y,r). You . Climb onto a box from position r: Climb Up (r, b); climb down from a box to position Tum a light switch on or off: TurnOn(s, b) TurnOf(, To turn a light on or off, Write PDDL sentences for Shakey's six actions and the initial state from Figure 10.14. Con- same room r. By convention a door between two rooms is in both of them. will need the predicate Bor and constants for the boxes. ClimbDoun (b, r). We will need the predicate On and the constant Floor Shakey must be on top of a box at the light switch's location. struct a plan for Shakey to get Bor2 into Room2 Switch 4 Door 4 Room 4 Switch 3 Door 3 Room 3 Shakey Comidor Switch 2 Door 2 Room 2 Switch I Box 3 Box 2 Door 1 Room 1 Box 4 Box 1 Figure 10.14 Shakey's world. Shakey can move between landmarks within a room, can pass through the door between rooms, can climb climbable objects and push pushable objects, and can fip light switches. 10.4 The original STRIPS planner was designed to control Shakey the robot. Figure 10.14 shows a version of Shakey's world consisting of four rooms lined up along a corridor, where each room has a door and a light switch. The actions in Shakey's world include moving from place to place, pushing movable objects (such as boxes), climbing onto and down from rigid objects (such as boxes), and tuming light switches on and off. The robot itself could not climb on a box or toggle a switch, but the planner was capable of finding and printing out plans that were beyond the robot's abilities. Shakey's six actions are the following: Go(x,y,r), which requires that Shakey be At r and that r and y are locations In the . Push a box b from location r to location y within the same room: Push(b, r, y,r). You . Climb onto a box from position r: Climb Up (r, b); climb down from a box to position Tum a light switch on or off: TurnOn(s, b) TurnOf(, To turn a light on or off, Write PDDL sentences for Shakey's six actions and the initial state from Figure 10.14. Con- same room r. By convention a door between two rooms is in both of them. will need the predicate Bor and constants for the boxes. ClimbDoun (b, r). We will need the predicate On and the constant Floor Shakey must be on top of a box at the light switch's location. struct a plan for Shakey to get Bor2 into Room2