I have asked this before, but gotten wrong answers $($code works for an input, but not for another one$).$ Please test your code extensively to make sure of its integrity of many different input cases. PROBLEM:

The city of Tokyo, the most technologically advanced city in the world, wants to test an automated robot sweeper designed for cleaning its streets. The sweeper is mounted on a vehicle, and its operation is simple: it always has its cleaning function activated, and to clean a street, it must move from the beginning to the end of that street. The task is to develop an ASP program that will determine the daily route for the sweeper, which must satisfy the following conditions:

All streets in the city that are accessible to the robot sweeper must be cleaned. In other words, the route must guarantee that the sweeper will pass through all accessible streets.

Some streets are inaccessible, and the program is provided with a list of these blocked streets. Naturally, the robot sweeper cannot pass through these streets, so they should not be included in the route.

The robot sweeper cannot teleport, so the sequence of streets in the route must correspond to neighboring streets.

The route should minimize the number of streets that are cleaned more than once. It is understood that the sweeper must respect traffic directions. For simplicity, we assume that if the sweeper passes through a street in any direction, that street is considered cleaned. The sweeper starts at a specific point on the map $($its storage location$),$ and at the end of the route, it must return to the same point. The problem can be modeled by representing the streets as a directed graph, where the challenge is to traverse all the edges $($i$.$e$.,$ streets$)$ at least once, while minimizing the number of streets that are cleaned more than once. The direction of an edge represents the correct traffic direction for that street.

The input consists of a set of road$($A$,$B$)$ predicates for one$-$way streets directed from A to B$,$ a set of blocked$($A$,$B$)$ predicates for streets that are inaccessible, and a given start$($A$)$ predicate for the starting point of the sweeper $($which is also the point it must return to$).$