Exercise 17.15 [4x3-pomdp-exercise]

Let the initial belief state $b_0$ for the $4\times 3$ POMDP on page 4x3-pomdp-page be the uniform distribution over the nonterminal states, i.e., $< \frac{1}{9},\frac{1}{9},\frac{1}{9},\frac{1}{9},\frac{1}{9},\frac{1}{9},\frac{1}{9},\frac{1}{9},\frac{1}{9},0,0 >$. Calculate the exact belief state $b_1$ after the agent moves and its sensor reports 1 adjacent wall. Also calculate $b_2$ assuming that the same thing happens again.