Since this is a competition, it would be very unfair if you were just given a solution, but as a help to get you started...
Look at the 2D floor plan and think of yourself as the robot - how would you go ahead finding and placing the boxes?
Each time you make a decision that changes course, pick up a box, place a box etc. you make a numbered note (writing it down of course).
This way you get the "minimum terms" for each sub operation - a state list, you may say and then you just have to translate each state into something your 'bot can use.
Shouldn't be hard to get it done in an afternoon.
If I had to do this, I would make a test field with the same elements (lines and boxes etc.) to test it out, but not necessarily the entire field - just the sections that is unique; like where the boxes are initially placed, but just a single one, as the rest is exactly like it.