Exercise 8.6 Create an FSA to coordinate behaviors for a can-recycling robot with a vision. Assume the robot starts with GRIPPEREEMPTY. The robot searches for red Coke cans, RED_BLOB, using a SEARCH behavior. When it sees a red can, it uses a MOVE_TO_CAN behavior to move to the can until it detects AT_CAN. It then grasps the can using the GRASP behavior and generates EMIT_BEEP to signal that it is done. Assume that once the MOVE_TO_CAN behavior sees a can, the robot will never lose sight of that can, though it may lose the grip on the can. You can only use capitalized terms as states and inputs. a. Draw the state diagram. In order to keep the diagram from being cluttered, do not show transitions that do not change behaviors. Remember to label all circles and arrows. b. Write out the transition table. Label the columns with the correct Greek symbols