Exercise 10.17 [stripstranslationexercise]
Consider how to translate a set of action schemas into the successorstate axioms of situation calculus.

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 $s$.

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

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.

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