TRACES OF PROBLEMS IN CLEANWORLD:




*Problem #1

Start State:

; Grid for Problem #1
;
;
; 6 |
; 5 |   book4   nothing
; 4 |   shelf1  shelf2
; 3 |
; 2 |
; 1 |   spray-   wipe-   dust-
; 0 |   floor1   floor2  floor3
;      --------------------------------
;         1       2       3       4


Problem Goal: (AND (IS-CLEAN SHELF1) (ON BOOK4 SHELF1))


Solution:  (With search-control rules)

CPU time: 1.2 seconds
Number of Nodes: 40
Solution Length: 18
Operator Sequence:

      PICK-UP BOOK4 RIGHT-ARM
      PICK-UP SPRAY-BOTTLE LEFT-ARM
      SPRAY SHELF1
      PUT-DOWN BOOK4 RIGHT-ARM SHELF2
      PICK-UP WIPE-CLOTH RIGHT-ARM
      WIPE SHELF1 RIGHT-ARM
      PUT-DOWN WIPE-CLOTH RIGHT-ARM FLOOR2
      PICK-UP BOOK4 RIGHT-ARM
      PUT-DOWN BOOK4 RIGHT-ARM SHELF1




==============================================================================
*Problem #2


Start State:

; Grid for problem #2
;
; 11 |   spray-bot      wipe-cloth      dust-cloth
; 10 |   shelf5         shelf6          shelf7
; 9  |   book4
; 8  |   shelf4
; 7  |   book3
; 6  |   shelf3
; 5  |   book2
; 4  |   shelf2
; 3  |   book1
; 2  |   shelf1
; 1  |
; 0  |
;      -------------------------------------------
;          1               2               3



Goal State:  (AND (IS-CLEAN BOOK1)  (IS-CLEAN BOOK2) 
	          (IS-CLEAN BOOK3)  (IS-CLEAN BOOK4) 
		  (IS-CLEAN SHELF1) (IS-CLEAN SHELF2) 
		  (IS-CLEAN SHELF3) (IS-CLEAN SHELF4)  )


Soultion:  (With Search-control rules)

CPU time: 5.1 seconds
Number of Nodes: 108
Solution Length: 53
Operator Sequence:

      PICK-UP DUST-CLOTH RIGHT-ARM
      DUST BOOK4 RIGHT-ARM
      PICK-UP BOOK4 LEFT-ARM
      PUT-DOWN DUST-CLOTH RIGHT-ARM SHELF7
      PICK-UP SPRAY-BOTTLE RIGHT-ARM
      SPRAY SHELF4
      PICK-UP DUST-CLOTH LOWER-RIGHT
      PUT-DOWN SPRAY-BOTTLE RIGHT-ARM SHELF7
      PICK-UP WIPE-CLOTH RIGHT-ARM
      WIPE SHELF4 RIGHT-ARM
      DUST BOOK3 LOWER-RIGHT
      PUT-DOWN BOOK4 LEFT-ARM SHELF4
      PICK-UP BOOK3 LEFT-ARM
      PICK-UP SPRAY-BOTTLE LOWER-LEFT
      SPRAY SHELF3
      WIPE SHELF3 RIGHT-ARM
      DUST BOOK2 LOWER-RIGHT
      PUT-DOWN WIPE-CLOTH RIGHT-ARM SHELF3
      PICK-UP BOOK2 RIGHT-ARM
      SPRAY SHELF2
      PUT-DOWN BOOK2 RIGHT-ARM SHELF7
      PICK-UP WIPE-CLOTH RIGHT-ARM
      WIPE SHELF2 RIGHT-ARM
      DUST BOOK1 LOWER-RIGHT
      PUT-DOWN BOOK3 LEFT-ARM SHELF2
      PICK-UP BOOK1 LEFT-ARM
      SPRAY SHELF1
      WIPE SHELF1 RIGHT-ARM

Solution:  (Without Search-control rules:)

==============================================================================
Problem #3

Start State:

; Grid for problem #3
;
; 5  |   book2          nothing
; 4  |   shelf5         shelf4
; 3  |   book1
; 2  |   shelf1
; 1  |   spray-bot      wipe-cloth      dust-cloth
; 0  |   floor1         floor2          floor3
;      -------------------------------------------
;          1               2               3


Problem Goal: (AND (ON BOOK1 SHELF5) (ON BOOK2 SHELF4) (IS-CLEAN BOOK1) 
	           (IS-CLEAN SHELF4) (IS-CLEAN BOOK2)  (IS-CLEAN SHELF5) 
		   (IS-CLEAN SHELF1))


CPU time: 27.8 seconds
Number of Nodes: 473
Solution Length: 131
Operator Sequence:

      PICK-UP BOOK1 THIRD-ARM
      PICK-UP SPRAY-BOTTLE LEFT-ARM
      SPRAY SHELF1
      PUT-DOWN BOOK1 THIRD-ARM SHELF4
      PICK-UP WIPE-CLOTH THIRD-ARM
      WIPE SHELF1 THIRD-ARM
      PUT-DOWN SPRAY-BOTTLE LEFT-ARM SHELF1
      PICK-UP BOOK2 LEFT-ARM
      PICK-UP SPRAY-BOTTLE RIGHT-ARM
      SPRAY SHELF5
      WIPE SHELF5 THIRD-ARM
      PUT-DOWN BOOK2 LEFT-ARM SHELF5
      PUT-DOWN WIPE-CLOTH THIRD-ARM SHELF1
      PICK-UP DUST-CLOTH THIRD-ARM
      DUST BOOK2 THIRD-ARM
      PICK-UP WIPE-CLOTH LEFT-ARM
      SPRAY SHELF1
      PUT-DOWN WIPE-CLOTH LEFT-ARM FLOOR3
      PUT-DOWN SPRAY-BOTTLE RIGHT-ARM FLOOR2
      PICK-UP WIPE-CLOTH RIGHT-ARM
      PUT-DOWN DUST-CLOTH THIRD-ARM FLOOR3
      PICK-UP DUST-CLOTH THIRD-ARM
      PUT-DOWN WIPE-CLOTH RIGHT-ARM FLOOR3
      PICK-UP BOOK1 RIGHT-ARM
      PUT-DOWN DUST-CLOTH THIRD-ARM SHELF4
      PICK-UP WIPE-CLOTH THIRD-ARM
      WIPE SHELF1 THIRD-ARM
      PICK-UP BOOK2 LEFT-ARM
      PUT-DOWN WIPE-CLOTH THIRD-ARM SHELF1
      PICK-UP SPRAY-BOTTLE THIRD-ARM
      SPRAY SHELF5
      PUT-DOWN SPRAY-BOTTLE THIRD-ARM FLOOR3
      PICK-UP WIPE-CLOTH THIRD-ARM
      WIPE SHELF5 THIRD-ARM
      PUT-DOWN BOOK2 LEFT-ARM SHELF5
      PICK-UP DUST-CLOTH LEFT-ARM
      PUT-DOWN WIPE-CLOTH THIRD-ARM SHELF1
      PICK-UP SPRAY-BOTTLE THIRD-ARM
      SPRAY SHELF4
      PUT-DOWN SPRAY-BOTTLE THIRD-ARM FLOOR3
      PICK-UP WIPE-CLOTH THIRD-ARM
      WIPE SHELF4 THIRD-ARM
      PUT-DOWN BOOK1 RIGHT-ARM SHELF4
      DUST BOOK1 LEFT-ARM
      PICK-UP SPRAY-BOTTLE RIGHT-ARM
      SPRAY SHELF1
      WIPE SHELF1 THIRD-ARM
      PUT-DOWN WIPE-CLOTH THIRD-ARM SHELF1
      PICK-UP BOOK2 THIRD-ARM
      SPRAY SHELF5
      PUT-DOWN BOOK2 THIRD-ARM FLOOR3
      PICK-UP WIPE-CLOTH THIRD-ARM
      WIPE SHELF5 THIRD-ARM
      PUT-DOWN DUST-CLOTH LEFT-ARM SHELF5
      PICK-UP BOOK1 LEFT-ARM
      SPRAY SHELF4
      WIPE SHELF4 THIRD-ARM
      PUT-DOWN WIPE-CLOTH THIRD-ARM SHELF4
      PICK-UP BOOK2 THIRD-ARM
      PUT-DOWN BOOK1 LEFT-ARM FLOOR3
      PUT-DOWN SPRAY-BOTTLE RIGHT-ARM SHELF1
      PICK-UP BOOK1 RIGHT-ARM
      PUT-DOWN BOOK2 THIRD-ARM FLOOR3
      PUT-DOWN BOOK1 RIGHT-ARM FLOOR2
      PICK-UP BOOK2 RIGHT-ARM
      PICK-UP WIPE-CLOTH THIRD-ARM
      PUT-DOWN BOOK2 RIGHT-ARM SHELF4
      PICK-UP BOOK1 RIGHT-ARM
      PUT-DOWN BOOK1 RIGHT-ARM FLOOR3
      PICK-UP BOOK1 LEFT-ARM
      PUT-DOWN WIPE-CLOTH THIRD-ARM FLOOR3
      PUT-DOWN BOOK1 LEFT-ARM FLOOR2
      PICK-UP BOOK1 RIGHT-ARM
      PICK-UP WIPE-CLOTH THIRD-ARM
      PUT-DOWN BOOK1 RIGHT-ARM FLOOR3
      PUT-DOWN WIPE-CLOTH THIRD-ARM FLOOR1
      PICK-UP BOOK1 THIRD-ARM
      PICK-UP DUST-CLOTH RIGHT-ARM
      PUT-DOWN BOOK1 THIRD-ARM SHELF5




==============================================================================
*Problem #4

Start State:

; Grid for problem #4
;

 
; 11 |   nothing        nothing
; 10 |   shelf5 shelf4
; 9  |
; 8  |
; 7  |   BOOK2          BOOK3
; 6  |   SHELF2         SHELF3
; 5  |
; 4  |
; 3  |   book1
; 2  |   shelf1
; 1  |   spray-bot      wipe-cloth      dust-cloth
; 0  |   floor1         floor2          floor3
;      -------------------------------------------
;          1               2               3

Problem Goal: (AND (IS-CLEAN BOOK1) (IS-CLEAN SHELF1) 
		   (IS-CLEAN BOOK2) (IS-CLEAN SHELF2) 
		   (IS-CLEAN BOOK3) (IS-CLEAN SHELF3))

Solution: (With search-control rules)


CPU time: 5.1 seconds
Number of Nodes: 116
Solution Length: 57
Operator Sequence:

      PICK-UP DUST-CLOTH RIGHT-ARM
      DUST BOOK3 RIGHT-ARM
      DUST BOOK2 RIGHT-ARM
      PICK-UP BOOK3 LEFT-ARM
      PUT-DOWN DUST-CLOTH RIGHT-ARM SHELF5
      PICK-UP SPRAY-BOTTLE RIGHT-ARM
      SPRAY SHELF3
      PUT-DOWN SPRAY-BOTTLE RIGHT-ARM SHELF4
      PICK-UP WIPE-CLOTH RIGHT-ARM
      WIPE SHELF3 RIGHT-ARM
      PUT-DOWN BOOK3 LEFT-ARM SHELF3
      PICK-UP BOOK2 LEFT-ARM
      PUT-DOWN WIPE-CLOTH RIGHT-ARM FLOOR3
      PICK-UP SPRAY-BOTTLE RIGHT-ARM
      SPRAY SHELF2
      PUT-DOWN SPRAY-BOTTLE RIGHT-ARM SHELF4
      PICK-UP WIPE-CLOTH RIGHT-ARM
      WIPE SHELF2 RIGHT-ARM
      PUT-DOWN BOOK2 LEFT-ARM SHELF2
      PICK-UP DUST-CLOTH LEFT-ARM
      DUST BOOK1 LEFT-ARM
      PUT-DOWN WIPE-CLOTH RIGHT-ARM SHELF5
      PICK-UP BOOK1 RIGHT-ARM
      PUT-DOWN DUST-CLOTH LEFT-ARM FLOOR3
      PICK-UP SPRAY-BOTTLE LEFT-ARM
      SPRAY SHELF1
      PUT-DOWN BOOK1 RIGHT-ARM SHELF4
      PICK-UP WIPE-CLOTH RIGHT-ARM
      WIPE SHELF1 RIGHT-ARM


===================================================================

*Problem #5


Start State:

; Grid for Problem #5
;
;
; 6 |
; 5 |   nothing  book1
; 4 |   shelf1   shelf5
; 3 |   BOOK2    BOOK3   BOOK4
; 2 |   SHELF2   SHELF3  SHELF4
; 1 |   spray-   wipe-   dust-
; 0 |   floor1   floor2  floor3
;      --------------------------------
;         1       2       3       4

Problem Goal: (AND (IS-CLEAN SHELF1) (IS-CLEAN SHELF2) (IS-CLEAN SHELF3) 
		   (IS-CLEAN SHELF4) (IS-CLEAN SHELF5) (IS-CLEAN BOOK1) 
		   (IS-CLEAN BOOK4)  (IS-CLEAN BOOK2)  (IS-CLEAN BOOK3)     )


Soultion:  (With Search-control rules)

CPU time: 14.1 seconds
Number of Nodes: 320
Solution Length: 101
Operator Sequence:

      PICK-UP DUST-CLOTH THIRD-ARM
      DUST BOOK1 THIRD-ARM
      PICK-UP SPRAY-BOTTLE LEFT-ARM
      SPRAY SHELF1
      PICK-UP BOOK1 RIGHT-ARM
      PUT-DOWN DUST-CLOTH THIRD-ARM SHELF5
      PICK-UP WIPE-CLOTH THIRD-ARM
      WIPE SHELF1 THIRD-ARM
      PUT-DOWN SPRAY-BOTTLE LEFT-ARM SHELF1
      PICK-UP DUST-CLOTH LEFT-ARM
      PUT-DOWN BOOK1 RIGHT-ARM FLOOR3
      PICK-UP BOOK2 RIGHT-ARM
      PUT-DOWN WIPE-CLOTH THIRD-ARM SHELF2
      PICK-UP SPRAY-BOTTLE THIRD-ARM
      SPRAY SHELF5
      PUT-DOWN BOOK2 RIGHT-ARM SHELF1
      PICK-UP BOOK4 RIGHT-ARM
      PUT-DOWN SPRAY-BOTTLE THIRD-ARM SHELF4
      PICK-UP WIPE-CLOTH THIRD-ARM
      WIPE SHELF5 THIRD-ARM
      DUST BOOK2 LEFT-ARM
      PUT-DOWN DUST-CLOTH LEFT-ARM SHELF5
      PICK-UP BOOK2 LEFT-ARM
      PUT-DOWN BOOK4 RIGHT-ARM FLOOR2
      PICK-UP BOOK1 RIGHT-ARM
      PUT-DOWN WIPE-CLOTH THIRD-ARM FLOOR3
      PICK-UP SPRAY-BOTTLE THIRD-ARM
      SPRAY SHELF1
      PUT-DOWN BOOK1 RIGHT-ARM SHELF4
      PICK-UP DUST-CLOTH RIGHT-ARM
      PUT-DOWN SPRAY-BOTTLE THIRD-ARM SHELF5
      PICK-UP WIPE-CLOTH THIRD-ARM
      WIPE SHELF1 THIRD-ARM
      PUT-DOWN BOOK2 LEFT-ARM SHELF1
      PICK-UP SPRAY-BOTTLE LEFT-ARM
      SPRAY SHELF2
      WIPE SHELF2 THIRD-ARM
      SPRAY SHELF5
      WIPE SHELF5 THIRD-ARM
      DUST BOOK3 RIGHT-ARM
      PUT-DOWN WIPE-CLOTH THIRD-ARM SHELF5
      PICK-UP BOOK3 THIRD-ARM
      SPRAY SHELF3
      PUT-DOWN BOOK3 THIRD-ARM FLOOR3
      PICK-UP WIPE-CLOTH THIRD-ARM
      WIPE SHELF3 THIRD-ARM
      PUT-DOWN SPRAY-BOTTLE LEFT-ARM SHELF3
      PICK-UP BOOK1 LEFT-ARM
      PUT-DOWN WIPE-CLOTH THIRD-ARM SHELF5
      PICK-UP SPRAY-BOTTLE THIRD-ARM
      SPRAY SHELF4
      PUT-DOWN SPRAY-BOTTLE THIRD-ARM SHELF3
      PICK-UP WIPE-CLOTH THIRD-ARM
      WIPE SHELF4 THIRD-ARM
      DUST BOOK4 RIGHT-ARM


*Note that in the final state, Books are in different places than when we
started. (We didnt specify where they needed to be when the robot finished,
only that the needed to be cleaned.  Also, moving a book that is clean to a
place underneath where we will dust will make it dirty, because now it is
in the range of the dust (regardless of where it was in the start state)



