CS 4341 Homework #1 Solutions

1. Exercise 2.1

       Part 1.   
   	As below, "O" stands for safe point, "X" for unsafe one.
    
   		3  O   O   O   O
   		2  X   X   O   X
   		1  X   O   X   X
   		0  O   O   O   O
   		   0   1   2   3
        
       Part 2.
   
                                              
                                    __________1___________
                                   v                      | 
                 	3    O----4---->O----2---->O           O
                        ^__________|__3_______|
                                   |
                                 __|
   		2    O        | O    |-6-->O--         O
                                 5      |       |
                                 |      |       7
   		1    O        |>O-----     O |         O
                                                |
                        v-------11------------| |
   		0    O          O----10--->O<|---8---->O
                                   ^______________________|
                                              9            
   
                        0          1          2           3
   

2. Exercise 3.2. This is an open question.

3. Exercise 3.6.
   Part 1.

   (PUT_ON A B
      (AND (GET_SPACE A B)
   	(GRASP A
   	    (CLEAR-TOP A
   		(GET-RID-OF C
   		    (PUT-ON C TABLE
   			(AND (GET-SPACE C TABLE)
   			     (GRASP C
   				(CLEAR-TOP C
   				    (GET-RID-OF D
   					(PUT-ON D TABLE
   					    (AND (GET-SPACE D TABLE)
   						 (GRASP D)
   						 (MOVE D TABLE)
   						 (UNGRASP D)
   					    )
   					)
   				    )
   				)
   			    )
   			    (MOVE C TABLE)
   			    (UNGRASP C)
   			)
   		    )
   		)
   	    )
   	)
   	(MOVE A B)
   	(UNGRASP A)
       )
   ) 
   
   Part 2.
   * To clear the top of C.
   * To clear the top of A.
   * To put onto B.
   * Get rid of C.
   * Put C on TABLE.
   
   Part 3.
   * When there is space on the TABLE, and the top of D is clear.
   * When there is space on the TABLE, and the top of C is clear.
   * When there is space on B, the top of A is clear, and A is held 
     by the robot hand.
   

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