1. Consider the schema for ${Fly}(p,{from},{to})$. Write a logical definition for the predicate ${Poss}({Fly}(p,{from},{to}),s)$, which is true if the preconditions for ${Fly}(p,{from},{to})$ are satisfied in situation $s$.

2. Next, assuming that ${Fly}(p,{from},{to})$ is the only action schema available to the agent, write down a successor-state axiom for ${At}(p,x,s)$ that captures the same information as the action schema.

3. Now suppose there is an additional method of travel: ${Teleport}(p,{from},{to})$. It has the additional precondition $\lnot {Warped}(p)$ and the additional effect ${Warped}(p)$. Explain how the situation calculus knowledge base must be modified.

4. Finally, develop a general and precisely specified procedure for carrying out the translation from a set of action schemas to a set of successor-state axioms.

Consider how to translate a set of action
schemas into the successor-state axioms of situation calculus.

1. Consider the schema for ${Fly}(p,{from},{to})$. Write a
logical definition for the predicate
${Poss}({Fly}(p,{from},{to}),s)$, which is true if the
preconditions for ${Fly}(p,{from},{to})$ are satisfied in
situation $s$.

2. Next, assuming that ${Fly}(p,{from},{to})$ is the only action
schema available to the agent, write down a successor-state axiom
for ${At}(p,x,s)$ that captures the same information as the
action schema.

3. Now suppose there is an additional method of travel:
${Teleport}(p,{from},{to})$. It has the additional
precondition $\lnot {Warped}(p)$ and the additional effect
${Warped}(p)$. Explain how the situation calculus knowledge base
must be modified.

4. Finally, develop a general and precisely specified procedure for
carrying out the translation from a set of action schemas to a set
of successor-state axioms.