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Artificial Intelligence
Assignment 1
Semester 1, 2019
due 23:59, Thursday 11th April 2019
Introduction
With suitable abstractions planning a path for a mobile robot can be converted into a
search problem. Begin by abstracting the environment into a 2D grid of square “cells”.
The robot state can be represented by a [x,y] pair, with [0,0] being the top-left cell of the
grid. Movements of the robot are possible at any time either UP, DOWN, LEFT RIGHT
(denoted U, D, L, R) unless the neighbouring cell is occupied. The UP action moves to the
cell immediately above (if possible) by changing [x,y] to [x,y-1]. Likewise RIGHT changes
the current state from [x,y] to [x+1,y], and so on. Given a start state, the goal of the robot
is to reach a new (user specified) state [X*, Y*], where this must be an unoccupied cell
in the grid. An action that would take the robot outside the grid or into an occupied cell
results in no change to the current state.
Your task is to write a program that will read in an environment, a start state and a goal
state, and conduct a search to find a path between start and goal. You may implement
any of the search algorithms discussed in lectures. Your output should be in the form of a
space-separated list of actions, such as U R R D D L L (more specific detail is given below).
Test data will be provided on the course pages along with this Assignment description.
Different data will be present in the submission system and your search program will be
evaluated against these unseen data for its completeness and optimality.
You must write the program yourself in either C, C++, Java or Python. You may
freely use libarries or packages for data structures (e.g. for queues or trees or other structures
you deem necessary), but if you use a library package or language function call for doing the
search itself, you will be limited to 50% of the available marks. If there is evidence you have
simply copied code from the web, you will be awarded no marks and referred for plagiarism.
The assessment script will attempt to work out what language yo have used by looking
at file extensions so do not mix .py, .c, .cc, .java files in the same repository. If you are
submitting C/C++ you must also submit a makefile and the script will attempt to compile
using the command make. If you submit java the script will attempt compilation using javac
robotplanner.java, and for python there is no compilation.
1The program must accept 5 arguments from the command-line: a file (which contains
the environment); and 4 integers specifying start state and goal state, eg:
./robotplanner env.txt 0 2 4 1
would read the environment specification from the file env.txt and should plan a path from
[0 2] to goal state [4 1].
The command above is run by the script if your program is C/C++. For java the
command is
java robotplanner env.txt 0 2 4 1
and for python it is
python robotplanner.py env.txt 0 2 4 1
The search algorithm you use is deliberately not specified. You can use any search
algorithm that you believe will produce a solution. But take note that undergraduates need
to show their implementation produces a correct path. Postgraduates have in addition to
produce an optimal path. The output of your program must strictly comply with the specs
below otherwise the automarking script will not be able to parse your answer, and will
therefore possibly not award all the marks available.
Submission and Assessment
Submit your program on the Computer Science Web Submission System. This means you
must create the assignment under your own SVN repository at 2019/s1/ai/Assignment1.
Undergraduates will be assessed on whether they produce a valid solution. There are
18 tests on 3 different grids (sized 5x5, 20x15 and 9x9). If a path is not possible and your
program correctly diagnoses this, the test is worth 4 marks. If the path is possible and you
find one valid path, you get 6 marks. Maximum available is 100. If your program produces
something that gives 0 marks please make sure you still submit since I will attempt to award
marks for failed programs. the better your code is documented, the more likely it is you will
awarded marks for submitting a failed attempt.
Postgraduates must produce an optimal solution. There are 18 tests on 3 different grids
(sized 5x5, 20x15 and 9x9), same as for the undergradutes. If a path is not possible and your
program correctly diagnoses this, the test is worth 4 marks. If the path is possible and you
find one valid path, you get 4 marks. If this path length (i.e. the number of moves needed)
is equal to the optimum you receive an additonal 2 marks. Maximum available is 100. If
your program produces something that gives 0 marks please make sure you still submit since
2I will attempt to award marks for failed programs. The better your code is documented, the
more likely it is you will awarded marks for submitting a failed attempt.
This assignment is due 11.59pm on Thursday 11th April, 2019. If your submission
is late, the maximum mark you can obtain will be reduced by 25% per day (or part thereof)
past the due date or any extension you are granted.
File format
The environment will be stored as text file in the following format: the first line contains the
width and height as two (space or tab separated) integers. Each subsequent line contains
a set of space-or-tab-separated 0s and 1s, with 0 representing that a cell is free-space (and
therefore navigable) and 1 indicating it is occupied, and therefore cannot be entered or
passed through by the robot.
For example
5 3
0 0 1 0 0
1 0 1 0 0
0 0 0 0 1
If we suppose that the start state is [0,0] (i.e. at the top left) and the goal state is [4,0]
(i.e. top right), then a valid solutions is
R D D R R U U R
Note that this solution is optimal but not unique.
Your program must produce output in the format of a line with two numbers representing
respectively, the number of nodes explored, the path length to the goal, followed by a line
with the set of robot actions. For example:
20 8
R D D R R U U R
For the case that 20 nodes have been explored (including unexpanded nodes in the fringe),
finding a path of length 8.
If no path is possible then your program must output the following:
3Where the first number is again the number of nodes searched, 0 is the pathlength and the
character X indicates no valid path.
Prof. Ian Reid, 5 Apr 2019
4
Artificial Intelligence
Assignment 1
Semester 1, 2019
due 23:59, Thursday 11th April 2019
Introduction
With suitable abstractions planning a path for a mobile robot can be converted into a
search problem. Begin by abstracting the environment into a 2D grid of square “cells”.
The robot state can be represented by a [x,y] pair, with [0,0] being the top-left cell of the
grid. Movements of the robot are possible at any time either UP, DOWN, LEFT RIGHT
(denoted U, D, L, R) unless the neighbouring cell is occupied. The UP action moves to the
cell immediately above (if possible) by changing [x,y] to [x,y-1]. Likewise RIGHT changes
the current state from [x,y] to [x+1,y], and so on. Given a start state, the goal of the robot
is to reach a new (user specified) state [X*, Y*], where this must be an unoccupied cell
in the grid. An action that would take the robot outside the grid or into an occupied cell
results in no change to the current state.
Your task is to write a program that will read in an environment, a start state and a goal
state, and conduct a search to find a path between start and goal. You may implement
any of the search algorithms discussed in lectures. Your output should be in the form of a
space-separated list of actions, such as U R R D D L L (more specific detail is given below).
Test data will be provided on the course pages along with this Assignment description.
Different data will be present in the submission system and your search program will be
evaluated against these unseen data for its completeness and optimality.
You must write the program yourself in either C, C++, Java or Python. You may
freely use libarries or packages for data structures (e.g. for queues or trees or other structures
you deem necessary), but if you use a library package or language function call for doing the
search itself, you will be limited to 50% of the available marks. If there is evidence you have
simply copied code from the web, you will be awarded no marks and referred for plagiarism.
The assessment script will attempt to work out what language yo have used by looking
at file extensions so do not mix .py, .c, .cc, .java files in the same repository. If you are
submitting C/C++ you must also submit a makefile and the script will attempt to compile
using the command make. If you submit java the script will attempt compilation using javac
robotplanner.java, and for python there is no compilation.
1The program must accept 5 arguments from the command-line: a file (which contains
the environment); and 4 integers specifying start state and goal state, eg:
./robotplanner env.txt 0 2 4 1
would read the environment specification from the file env.txt and should plan a path from
[0 2] to goal state [4 1].
The command above is run by the script if your program is C/C++. For java the
command is
java robotplanner env.txt 0 2 4 1
and for python it is
python robotplanner.py env.txt 0 2 4 1
The search algorithm you use is deliberately not specified. You can use any search
algorithm that you believe will produce a solution. But take note that undergraduates need
to show their implementation produces a correct path. Postgraduates have in addition to
produce an optimal path. The output of your program must strictly comply with the specs
below otherwise the automarking script will not be able to parse your answer, and will
therefore possibly not award all the marks available.
Submission and Assessment
Submit your program on the Computer Science Web Submission System. This means you
must create the assignment under your own SVN repository at 2019/s1/ai/Assignment1.
Undergraduates will be assessed on whether they produce a valid solution. There are
18 tests on 3 different grids (sized 5x5, 20x15 and 9x9). If a path is not possible and your
program correctly diagnoses this, the test is worth 4 marks. If the path is possible and you
find one valid path, you get 6 marks. Maximum available is 100. If your program produces
something that gives 0 marks please make sure you still submit since I will attempt to award
marks for failed programs. the better your code is documented, the more likely it is you will
awarded marks for submitting a failed attempt.
Postgraduates must produce an optimal solution. There are 18 tests on 3 different grids
(sized 5x5, 20x15 and 9x9), same as for the undergradutes. If a path is not possible and your
program correctly diagnoses this, the test is worth 4 marks. If the path is possible and you
find one valid path, you get 4 marks. If this path length (i.e. the number of moves needed)
is equal to the optimum you receive an additonal 2 marks. Maximum available is 100. If
your program produces something that gives 0 marks please make sure you still submit since
2I will attempt to award marks for failed programs. The better your code is documented, the
more likely it is you will awarded marks for submitting a failed attempt.
This assignment is due 11.59pm on Thursday 11th April, 2019. If your submission
is late, the maximum mark you can obtain will be reduced by 25% per day (or part thereof)
past the due date or any extension you are granted.
File format
The environment will be stored as text file in the following format: the first line contains the
width and height as two (space or tab separated) integers. Each subsequent line contains
a set of space-or-tab-separated 0s and 1s, with 0 representing that a cell is free-space (and
therefore navigable) and 1 indicating it is occupied, and therefore cannot be entered or
passed through by the robot.
For example
5 3
0 0 1 0 0
1 0 1 0 0
0 0 0 0 1
If we suppose that the start state is [0,0] (i.e. at the top left) and the goal state is [4,0]
(i.e. top right), then a valid solutions is
R D D R R U U R
Note that this solution is optimal but not unique.
Your program must produce output in the format of a line with two numbers representing
respectively, the number of nodes explored, the path length to the goal, followed by a line
with the set of robot actions. For example:
20 8
R D D R R U U R
For the case that 20 nodes have been explored (including unexpanded nodes in the fringe),
finding a path of length 8.
If no path is possible then your program must output the following:
3Where the first number is again the number of nodes searched, 0 is the pathlength and the
character X indicates no valid path.
Prof. Ian Reid, 5 Apr 2019
4