where $$R$$ represents a robot agent, $$H$$ represents a hole, $$B$$ represents a battery station and

$*$ represents dirt.

$1.$ Develop a set of rules $($including predicates and actions$)$ that can be used to describe the

above $4-$by$-4$ cell Vacuum World.

$2.$ Use these rules to instruct the following:

$$ the robot to clean up all the dirt starting from $(4,$ a$)$ while avoiding falling into any

hole;

$$ the robot must pass the battery station to get recharged for at least one time;

$$ after having cleaned all the dirt, the robot is located at $(3,$d