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.

Question 1:

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.

Question 2 :

Download the GDL description for Eight Puzzle (eightPuzzle.txt). Read the description and answer the following questions:

According to the game description, write the initial states of the game.
According to the game description, write the goal states of the game (i.e., the states with goal value 100)?
According to the game description, what are the possible actions “you” as a robot can take (legal actions)?
Write action descriptions in STRIPS.
Define a utility function (over states) for a game player (or called heuristic function) .
Assume that the initial state changes to

	1	3
4	2	5
7	8	6

Write a plan for the robot to achieve its goal.

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