• The aim is to have every listed tile in rows 1 through 4 (i.e., tile_1-1, tile_1-2, tile_1-3, tile_1-4, and so forth down to tile_4-4) painted with an alternating pattern of white and black. Specifically:

  – Row 1 (tiles tile_1-1 through tile_1-4): white, black, white, black.  
  – Row 2 (tiles tile_2-1 through tile_2-4): black, white, black, white.  
  – Row 3 (tiles tile_3-1 through tile_3-4): white, black, white, black.  
  – Row 4 (tiles tile_4-1 through tile_4-4): black, white, black, white.  

• This means each tile in those four rows must end up painted exactly once with the specified color, and no robot may ever occupy a tile once it has been painted.  

• The goal state does not specify any color for tiles in row 0, thus the following tiles should remain unpainted in the goal state: tile_0-1, tile_0-2, tile_0-3, tile_0-4.

• The plan should attempt to reach this final arrangement in a way that minimizes the total cost, which rises by a specified amount each time a robot changes color, paints a tile, or moves.