Let us consider how we might translate a set of STRIPS schemata into the successor-state axioms of situation calculus.

• Consider the schema for Fly (p, from. to). Write a logical definition for the predicate Fly Precond (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 successor-state axiom for A t (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 -, Warped (p) and the additional affect 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 STREPS schemata to a set of successor-state axioms.