Introduction to Artifical Intelligance (Planning)

A robot ROBOT operates in an environment made of two rooms R1 and R2 connected by a door D. A box B is located in R2 and the door's key is initially in R2. The door can be open or closed (and locked). The figure illustrates the initial state described by: IN(ROBOT,R2) IN(K,R2) OPEN(D) ROBOT R2 The actions are Grasp-Key-In-R2 Lock-Door Go-From-R2-To-R1-With-Key Put-Key-In-Box defined as follows: Grasp-Key-In-R2 P: IN(ROBOT,R2), IN(K,R2) E: HOLDING(ROBOT,K) Lock-Door P: HOLDING(ROBOT,K), OPEN(D) E-?0PEN(D), LOCKED(D) Go-From-R2-To-R1-With-Key P: IN(ROBOT,R2), HOLDING(ROBOT,K), OPEN(D) E: -IN(ROBOT,R2), -IN(K,R2), IN(ROBOT,R1), IN(K,R1) Put-Key-In-Box P: IN(ROBOT,R1), HOLDING(ROBOT,K) E:-HOLDING(ROBOT,K), -IN(K,R1), IN(K,B) The goal is IN(K,BOX), LOCKED(D) Construct a partial order plan to solve this problem. Clearly indicate at each step the modifications made to the plan: the action added, the causal links added and/or the ordering constraints added. Indicate any threats at each step A robot ROBOT operates in an environment made of two rooms R1 and R2 connected by a door D. A box B is located in R2 and the door's key is initially in R2. The door can be open or closed (and locked). The figure illustrates the initial state described by: IN(ROBOT,R2) IN(K,R2) OPEN(D) ROBOT R2 The actions are Grasp-Key-In-R2 Lock-Door Go-From-R2-To-R1-With-Key Put-Key-In-Box defined as follows: Grasp-Key-In-R2 P: IN(ROBOT,R2), IN(K,R2) E: HOLDING(ROBOT,K) Lock-Door P: HOLDING(ROBOT,K), OPEN(D) E-?0PEN(D), LOCKED(D) Go-From-R2-To-R1-With-Key P: IN(ROBOT,R2), HOLDING(ROBOT,K), OPEN(D) E: -IN(ROBOT,R2), -IN(K,R2), IN(ROBOT,R1), IN(K,R1) Put-Key-In-Box P: IN(ROBOT,R1), HOLDING(ROBOT,K) E:-HOLDING(ROBOT,K), -IN(K,R1), IN(K,B) The goal is IN(K,BOX), LOCKED(D) Construct a partial order plan to solve this problem. Clearly indicate at each step the modifications made to the plan: the action added, the causal links added and/or the ordering constraints added. Indicate any threats at each step