CSE 4308 / CSE 5360 - Artificial Intelligence I Homework 4: PlanningCSE 4308 / CSE 5360 - Artificial Intelligence IHomework 4- Fall 2013Due Date: Oct 31 2013, 12:30 pmPartial-Order Plans1. For the shopping domain that we used in the class, construct a partial-orderplan for the following start and goal states. The operators for this domainare:OP ( Action : Go(y),P recond : At(x),Ef f ect : At(y) ∧ ¬At(x))OP ( Action : Buy(x),P recond : At(y) ∧ Sells(y, x),Ef f ect : Have(x))a) Start: At(Home)∧¬Have(Batteries)∧¬Have(T ape)∧Have(Nails)∧Sells(SM, Batteries) ∧ Sells(P H, T ape)Goal: At(Home) ∧ Have(Batteries) ∧ Have(N ails)b) Start: At(SM )∧¬Have(Batteries)∧¬Have(Nails)∧Sells(SM, Batteries)∧Sells(P H, T ape) ∧ Sells(W HS, Nails)Goal: At(P H) ∧ Have(Nails) ∧ Have(Batteries)2. Extend the shopping domain from problem 1. so you can also sell items.Define the operator for selling, including all other predicates, operators, ordefinitions you would need (note that in order to sell something successfullyyou will need a customer).Using this new operator construct a partial-order plan for the following startand goal conditions:Start: At(Home)∧ ¬Have(Batteries)∧ ¬Have(T ape)∧ Have(Nails)∧Sells(SM, Batteries) ∧ Sells(P H, T ape)Goal: At(Home) ∧ Have(Batteries) ∧ ¬Have(Nails)2013 Manfred Huber Page 1CSE 4308 / CSE 5360 - Artificial Intelligence I Homework 4: Planning3. Use the POP algorithm to construct a plan for the following blocks-worldproblem. Using the operator schemata in the book, trace the operation of thePOP algorithm.Start State Goal StateBAABCDDCFor every iteration of the algorithm show the set of plan steps, the set ofordering constraints, and the set of causal links. If necessary, resolve possi-ble threats (i.e. threats that contain a variable) immediately with an equalityconstraint.4. Solve the following Blocks-world problems using Sensory GraphPlan (SGP).SGP is a partial order planner written in Lisp (omega has a Lisp interpretedcalled clisp in which you can run the program. If you want to run it on yourcomputer you will need to install a Lisp interprete, e.g. http://www.clisp.org/). You can find instructions on how to use SGP in the README file. Thereare also two example files, gripper.pddl and blocks.pddl. blocks.pddl is adefinition of the operator for the blocks world problem and contains the Suss-man anomaly as an example scenario. Your task is to modify the blocks.pddlfile such as to solve the following blocks world problems. For each of theproblems you are to hand in a printout of your *.pddl file and a printout ofthe solution the planner found.a)Start State Goal StateBAABCDDC2013 Manfred Huber Page 2CSE 4308 / CSE 5360 - Artificial Intelligence I Homework 4: Planningb)Start State Goal StateBAABCDDCKnowledge Engineering for Planning5.∗Consider the following robot cleaning scenario. A cleaning robot works ina house with a number of different rooms that are connected by doors thatcan either be open or closed. The robot can always only clean one room at atime and sometimes certain rooms are not supposed to be cleaned. To movebetween rooms, the robot has to sometimes open doors.Give the initial state description (in predicate calculus) and STRIPS-styledefinitions for the actions (at least a clean, a moveto, and a door open action- but there could be more) in this problemthe. Each action schema has tocontain at least the obvious preconditions and effects.2013 Manfred Huber Page