A robot is capable of delivering parcels from one location to another location. To describe the environment of the robot, we introduce the following predicates:
robot_at(l): the robot is located at location l.
parcel_at(p,l): the parcel p is located at location l.
handfree: the robot does not hold any parcel.
holding(p): the robot is holding parcel p.
The robot can perform three actions: Grab, Goto and Drop. The following table provides the STRIP specification of the actions:
Actions | Grab(p) | Goto(l1,l2) | Drop(p) |
Preconditions | robot_at(l), parcel_at(p, l)
handfree |
robot_at(l1) | holding(p) robot_at(l) |
Add list | holding(p) | robot_at(l2) | parcel_at(p,l)
handfree |
Delete list | parcel_at(p,l)handfree | robot_at(l1) | holding(p) |
Assume that the initial state of environment is:
robot_at(l1), parcel_at(p1, l1), parcel_at(p2, l1), handfree
the goal of the robot is:
parcel_at (p1,l2), parcel_at (p2,l2), robot_at(l1).
Generate a run that brings the initial state to the goal states (10%). Depict the details of state transformation alone the run by indicating what facts are added and what facts are deleted after each action that is performed (10%)1.
Download the GDL description for Eight Puzzle (eightPuzzle.txt). Read the description and answer the following questions:
1 | 3 | |
4 | 2 | 5 |
7 | 8 | 6 |
Write a plan for the robot to achieve its goal.
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