Fig. 6

Case 6: Complex goals The robot proceeds to the kitchen at Step 2 and goes toward the fridge(N22) to fetch a canned drink(M1) in Step 3. It subsequently goes to the cabinet(N20) to place M1. N20 contains another canned drink(M2). The robot will fetch M2 and close N20 at the end of Step 4. It proceeds to the fridge to place M2 and closed it in Step 5. After that, the robot approaches the wet kitchen in Step 6 and opens the window in Step 7