S 0.2
D 0.2
S 0.4
U 0.4
D 0.4
D 0.4
S 0.7
L 0.7
S 1.5
D 1.5
S 2.0
U 2.0
U 2.0
S 2.8
L 2.8
S 3.5
U 3.5
S 3.9
U 3.9
S 4.4
L 4.4
U 4.4
S 4.9
R 4.9
S 5.7
L 5.7
R 5.7
R 5.7
S 5.8
R 5.8
0.0 0.0 0.0 0.0 [0.1]
0.1 0.0 0.0 0.5 0.5
0.3 0.5 0.0 0.3 0.0
0.3 0.1 0.0 0.0 0.0
0.0 0.0 0.2 0.0 0.0
0.0 0.0 0.0 0.0 0.1
0.0 0.0 0.0 0.5 0.1
0.0 0.0 0.0 0.2 0.0
D 0.0
R 0.0
L 0.0
U 0.0
U 0.0
R 0.0
D 0.0
R 0.0
L 0.0
R 0.0
U 0.0
R 0.0
S 0.5
U 0.5
S 1.3
U 1.3
S 2.1
L 2.1
S 2.8
L 2.8
S 2.9
R 2.9
L 2.9
R 2.9
U 2.9
S 3.3
U 3.3
S 3.8
U 3.8
S 4.6
0.0 0.5 [0.0] 0.1 0.1
0.1 0.0 0.0 0.5 0.5
0.3 0.5 0.0 0.3 0.2
0.3 0.0 0.0 0.0 0.2
0.0 0.0 0.2 0.0 0.3
0.0 0.0 0.0 0.0 0.1
0.0 0.0 0.0 0.5 0.1
0.0 0.0 0.0 0.2 0.0
S 0.2
U 0.2
S 0.7
L 0.7
S 1.2
L 1.2
S 1.7
U 1.7
S 2.5
L 2.5
S 3.0
L 3.0
D 3.0
S 3.1
D 3.1
S 3.4
R 3.4
S 3.9
R 3.9
S 4.3
D 4.3
S 5.0
R 5.0
S 5.8
D 5.8
S 6.6
D 6.6
S 7.1
D 7.1
S 7.6
0.0 0.0 0.0 0.1 0.1
0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.3 0.0
0.3 0.1 0.0 0.0 0.2
0.0 0.0 0.2 0.0 0.3
0.0 0.0 0.0 0.0 0.1
0.0 0.0 0.0 [0.0] 0.1
0.0 0.0 0.0 0.2 0.0
U 0.0
R 0.0
U 0.0
R 0.0
S 0.2
R 0.2
S 1.0
U 1.0
S 1.8
L 1.8
S 2.5
U 2.5
S 2.9
L 2.9
S 3.4
L 3.4
S 3.7
D 3.7
S 4.0
R 4.0
S 4.1
U 4.1
R 4.1
U 4.1
S 4.6
U 4.6
S 5.4
L 5.4
S 5.9
R 5.9
0.0 0.0 [0.0] 0.1 0.1
0.1 0.0 0.0 0.5 0.5
0.0 0.0 0.0 0.3 0.2
0.0 0.0 0.0 0.0 0.2
0.0 0.0 0.0 0.0 0.3
0.0 0.0 0.0 0.5 0.1
0.0 0.0 0.0 0.5 0.1
0.0 0.0 0.0 0.2 0.0
U 0.0
S 0.5
L 0.5
S 1.0
L 1.0
S 1.5
U 1.5
S 2.3
L 2.3
S 2.8
D 2.8
D 2.8
S 3.3
R 3.3
S 3.7
D 3.7
S 4.4
R 4.4
S 5.2
D 5.2
S 6.0
D 6.0
S 6.5
D 6.5
S 7.0
D 7.0
S 7.2
U 7.2
R 7.2
S 7.3
0.0 0.0 0.0 0.1 0.1
0.1 0.0 0.0 0.0 0.0
0.3 0.0 0.0 0.3 0.2
0.3 0.1 0.0 0.0 0.2
0.0 0.0 0.2 0.0 0.3
0.0 0.0 0.0 0.0 0.1
0.0 0.0 0.0 0.0 [0.0]
0.0 0.0 0.0 0.0 0.0
R 0.0
R 0.0
R 0.0
S 0.5
U 0.5
S 1.0
U 1.0
S 1.8
U 1.8
S 2.6
L 2.6
S 3.3
U 3.3
S 3.7
L 3.7
S 4.2
U 4.2
R 4.2
S 4.7
U 4.7
S 5.5
L 5.5
S 6.0
D 6.0
R 6.0
R 6.0
S 6.5
R 6.5
S 7.0
D 7.0
0.0 0.0 0.0 0.1 0.1
0.1 0.0 0.0 0.0 0.0
0.3 0.0 0.0 0.3 [0.2]
0.3 0.1 0.0 0.0 0.2
0.0 0.0 0.2 0.0 0.3
0.0 0.0 0.0 0.0 0.1
0.0 0.0 0.0 0.0 0.1
0.0 0.0 0.0 0.2 0.0
D)
a) The simple reflex agent(here a continuum vacuum world agent) will be rational in the following environments:
i) When there is dirt in the initial location and not anywhere else, the world would be clean in just one step. When there is no dirt in the initial location and dirt in the nearest possible location, then it would take two steps two clean. Similarly when there is dirt in the initial location and at the nearest possible location, then it would take three steps. In all these cae no agent can perform better. Hence our simple reflex agent is rational.
ii) If the agent's percept give it the status of every square in the grid, whether it is clean or dirty.
b) Yes, my robot is deterministic because it always tries to do the same thing,i.e., finds the maximum amount of dirt in the locality and moves to that location and sucks the dirt,in every situation.
c) Consider two square grids, each made of 16 small grids, connected by a single row of small grids. The randomized robot will not be able to reach the other big grid in quick time as in its random move, it needs to select one of the grids of the small row of grids, probability of which is just 0.25, to move to the other big square grid.
d) The rational agent must wait at its current position for some time to get a more accurate measurement before moving onto a new location. It should also collect a data of how much time it had spent on previous squares to learn how much maximum time it needs to spend on future squares. It should also continue going through and checking the squares in case it missed one on a previos tour.
e) The agent must keep touring the squares indefinitely taking the shortest possible route for all squares because the dirtiness of a square will increase with time if it is not cleaned again.
E)
a) The terrain must be a smooth terrain without any upward projections. So if there is a projection with height more than 5cm, it will be a wall. Lighting of the area should be good without heavy shadows. If there is a continous line of projection or discontinuity, it means that it is another grid's boundary. A sonar device can be added to detect stairs. Small projections are dirt.
b) The dirt can be mapped in the grid of 0.5m. by distinguishing between the floor and anyhting which is not similar to the floor and has some projection out of the plane of hte floor.
c) No, the value between 0 & 1 is not good enough to map the dirt in each grid because if the dirt is taken as a continuous unwanted object than grading it in between 0 & 1 would not be accurate to describe it and it would become one more difficult task for the robot/human to grade the dirt in betwwen 0 &1.
d) The robot knows the angle subtended by the image and its vertical height. This can be used to determine its position from the image.
