The problem is rearranging furniture in a flat.We are given rectangular rooms of natural width and height with doors between them, (the walls have no width)and rectangular furniture at starting positions and goal positions.The operations are moving each piece of furniture one block each direction (up,down,right, left), and rotating it 90 degrees at each direction.Information about the STRIPS language:1. The state of the world consists of first order ground atoms: Only positive predicates on ground objects.2. Operations consist of: a list of bound variables, and the following sets: preconditions (with positive or negative atoms) and effects (with positive or negative atoms) with no free variables.3. An operation can to be turned into an action using substitution of all variables of the operation, resulting in preconditions and effects with positive or negative ground atoms4. A relevant operation is one that given the current goal state, can be turned into an action such that the effects hold in the state.How can I formulate preconditions to these operations?What I came up with up until now is that I need to represent each 1x1 square as an object in the propositions.The main thing I don't understand how to model is that each operation's precondition needs to depend on the furniture size - the amount and position of blocks that need to be clear to move a piece of furniture depends on it's dimentions.Rotating would be even more complex; some of the new positions of the piece of furniture would need to be checked to be empty (what is currently not taken by the piece of furniture) and some would not (what is currently taken by the piece of furniture).How is it possible to model it into the form of STRIPS?
Formulating an arrangement problem with STRIPS
logic;artificial intelligence;search algorithms;planning