Exercise 2.10 [vacuum-start-exercise]

Implement a performance-measuring environment simulator for the vacuum-cleaner world depicted in Figure vacuum-world-figure and specified on page vacuum-rationality-page. Your implementation should be modular so that the sensors, actuators, and environment characteristics (size, shape, dirt placement, etc.) can be changed easily. (Note: for some choices of programming language and operating system there are already implementations in the online code repository.)