The following pseudo$-$code defines a control loop for a practical reasoning $($BDI$)$ agent:

$1.$ B :$=$ B$0$;

$2.$

I :$=$ I$0$;

$3.$ while true do

$4.$

get next percept $\backslash$rho ;

$5.$ B :$=$ brf$($B$,\backslash$rho $)$;

$6.$

D :$=$ options$($B$,$ I $)$;

$7.$

I :$=$ filter $($B$,$ D$,$ I $)$;

$8.\backslash$pi :$=$ plan$($B $,$ I $,$ Ac$)$;

$9.$ while not $($empty$(\backslash$pi $)$ or succeeded $($I $,$ B$)$ or believeimpossible$($I $,$ B$))$ do

$10.$

$\backslash$alpha ; $=$ head$(\backslash$pi $)$;

$11.$

execute$(\backslash$alpha $)$;

$12.$

$\backslash$pi :$=$ tail $(\backslash$pi $)$;

$13.$

get next percept $\backslash$rho ;

$14.$

B :$=$ brf$($B$,\backslash$rho $)$;

$15.$

if reconsider $($I $,$ B$)$ then

$16.$

D :$=$ options$($B$,$ I $)$;

$17.$

I :$=$ filter $($B$,$ D$,$ I $)$;

$18.$

end if

$19.$

if not sound$(\backslash$pi $,$ I $,$ B$)$ then

$20.$

$\backslash$pi :$=$ plan$($B$,$ I $,$ Ac$)$;

$21.$

end $$ if

$22.$

end $$while

$23.$ end $$while

$($b$)$ Recall that $$Practical Reasoning $=$ deliberation $+$ means ends reasoning$.$ With reference to the above

code, answer the following questions:

$1.$ What commitment protocol is used in this code?

$2.$ What should be modified in this code if the commitment protocol $$Opened$-$minded commitment$$ is

used?

$3.$ What should be modified in this code if the commitment protocol $$Single$-$minded commitment$$ is

used?

$4.$ Assume the commitment protocol $$Single$-$minded commitment$$ is used in the above code. When

should an agent stop to reconsider its intentions?