4. Please design pseudo-code of an energy efficient model-based vacuum-cleaner agent as follows: (1) The environment has three locations (A, B, C as shown in Figure 2) and three states ("Clean", "Dirty", "Unknown"). (2) The vacuum-cleaner has four actions "Left", "Right", "Suck", and "Idle", (3) The vacuum-cleaner will clean the dirt as soon as it senses that the current environment is Dirty, (4) If the vacuum-cleaner senses the current environment is "Clean" or "Unknown", it will remain Idle for one time point, and (5) The vacuum-cleaner will change location if it senses the current environment is "Clean" for two consecutive time points in a row, and (6) The vacuum-cleaner will change location if it senses the current environment is "Unknown" for two consecutive time points in a row. (7) When change locations, agent can only move "right" if it is at location "A", move "left" if it is at location " C ", and randomly decide to move "left" or "right" if it is location "B" Summarize percept sequences and corresponding actions as a table, Write the pseudo code of the agent