Devise a representation for the following domain using STRIPS operators (see RN 377-382). Come prepared to discuss the choices you made. Your write-up will be handed in at the end of class.
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.
Now, Danny wants coffee as well. Danny's mug is currently in his office. Extend the start and goal states to reflect this.
Another robot, Flakey, has been brought on-line to help Shakey. Extend your representation so that both robots can plan to work together.