A delivery robot is moving in a n*m maze. A simple version of the maze is shown in the
figure. The robot is programmed to deliver multiple parcels to their destinations. Each
parcel starts at some node in the maze and has its own delivery destination. The initial
position of the parcels is shown in the figure, and the number in each parcel is its target
destination. At every step the robot can take one of the following actions:
• Move: Move in one of these directions {Up, Right, Down, Left}
• Pick: Pick-up a parcel in a location
• Drop: Put down a parcel at a location.
The costs of move actions are 1, and the costs of Pick and Drop are zero. The robot
starts at square number 1 and can move through dotted lines but the solid lines
represent walls. The robot wants to deliver all parcels to their destinations with the
minimum number of moves.
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2
6
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5
A) If the robot can carry only one parcel at a time, define an admissible heuristic
function for searching the space. Explain in plain english why the heuristic is
admissible. Is your heuristic consistent? Why? Make sure your heuristic is not
h(x) =0. (7 points)
B) If the robot can carry multiple parcels at a time, define an admissible heuristic
function. Explain in plain english why the heuristic is admissible. Is your
heuristics consistent? Why? Make sure your heuristic is not h(x) =0. (8 points)
