1) Problem Modelling and Solving Think about the following domain ("Robot Delivery Domain: You want to use planning in a robot that shall navigate through the office floor and transport stuff for you. There are of course different abstract levels to handle the planning problem. Let's plan on the following abstraction level: The robot can be in different rooms. It shall have "primitive" actions to move from room to room, to pickup things and handover things to a human. The world of the robot looks like Mail office My office Floor Robot Fikarum "My office" is a room that is connected with the floor. From the floor, there is a direct connection to the Mail office or the Fikarum. In the Mail office there are letters, packages that the robot may fetch. In the Fikarum, the robot can get a cup of coffee, etc. a The first task is to define a language (predicates) that we can use to describe the situation that we encounter during planning. The language could contain predicates like isRoom(Floor) connected(Floor, Fikarum) isTransportable(LetterForMe) Create your own language that you can use for describing the situation as well as the preconditions and effect in action schemata/planning operators. Use your language to describe the following situations: Start State: My robot and me are in my office. There is a packet in the Mail office Goal State: I want the packet in my office with me (and want my robot to use planning to fetch the packet for me) b) Use the language that you have invented in a) to define all planning operators that you would need to solve the problem. Examples could be moveToNextRoom(?robot, ?fromRoom, ?toRoom) or pickup(?robot, ?thing), etc. Give a plan using your planning operators