You should complete this assignment in a team with another student. You may start with any of the ideas that came up during the in-class exercise about this planning domain. You should turn in a single copy of your solution with both of your names on it. Feel free to use the cse473-discuss mailing list to talk about questions of PDDL syntax or how to run Blackbox. If you do not find a partner to work with during class, then you can also post requests for someone to partner with to cse473-discuss, and if that doesn't work, ask the TA Ravi to help match you up.
Represent the following planning problems in STRIPS, using the PDDL (planning domain definition language) notation. Verify that your representation is correct by solving them using the Blackbox planning system. Turn in a print out of your PDDL files and traces of Blackbox's output.
1. Shakey the robot has to bring coffee to Prof. Kautz. In order to make the coffee, Shakey will need to gather coffee filters, coffee, and Prof. Kautz's mug and bring them to the coffee maker in the kitchen. The coffee and filters are in the supply room, but it is locked. To unlock the supply room, Shakey will need to get the key from Prof. Kautz's office.
The rooms are arranged as shown above. Shakey can only travel between adjacent rooms. If he needs to get to a more distant room, he will have to travel past the others first.
Shakey starts in the kitchen. His goal is to fill Prof. Kautz's mug with freshly made coffee and bring the filled mug to Prof. Kautz's office.
2. A Complication: Now, Ravi wants coffee as well. Ravi's mug is currently in his office. Extend the start and goal states to reflect this.
3: A Second Complication: Another robot, Flakey, has been brought on-line to help Shakey. Extend your representation so that both robots can plan to work together.