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4 Search Problem formulation (23 points)

4 Search Problem formulation (23 points) Consider a Mars rover that has to drive around the surface, collect rock samples, and return to thelander. We want to construct a plan for its exploration. It has batteries. The batteries can be charged by stopping and unfurling the solar collectors(pretend it s always daylight). One hour of solar collection results in one unit of batterycharge. The batteries can hold a total of 10 units of charge. It can drive. It has a map at 10-meter resolution indicating how many units of battery chargeand how much time (in hours) will be required to reach a suitable rock in each square. It can pick up a rock. This requires one unit of battery charge. The robot has a map at10-meter resolution that indicates the type of rock expected in that location and the expectedweight of rocks in that location.

path when the heuristic is admissible (or consistent with a strict expanded list). H2 is admissible but not consistent, since the link from D to C decreases the heuristic cost by 2, which is greater than the link cost of 1. Still, the optimal path was found. G7: 1. Algorithm: Uniform Cost Search 2. Heuristic (if any): None 3. Did it find least ...

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