The aim is to have every listed tile in rows 1 and 2 (i.e., tile_1-1, tile_1-2, tile_1-3, tile_1-4, tile_1-5, and tile_2-1, tile_2-2, tile_2-3, tile_2-4, tile_2-5) painted with an alternating pattern of white and black. Specifically in the goal setting:
Row 1:
tile_1-1: white
tile_1-2: black
tile_1-3: white
tile_1-4: black
tile_1-5: white
Row 2:
tile_2-1: black
tile_2-2: white
tile_2-3: black
tile_2-4: white
tile_2-5: black
This means each tile in those two 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, tile_0-5. 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.