Given the action schemas and initial state from Figure 10.1, what are all the applicable concrete instances of Fly(p,from,to) in the state described by

At(P1,JFK) At(P2,SFO) Plane(P1) Plane(P2)

Airport(JFK) Airport(SFO)?

Cargo(C1) Cargo(C2) Plane(P1) Plane(P2) Airport(JFK) Airport(SFO)) Goal(At(C1, JFK) At(C2, SFO)) Action Load(c, p, a), Action Unload(c, p, a), Action(Fly(p, from, to), PRECOND: At(c, a) At(p, a) ^ Cargo(c) Plane(p) Airport(a) EFFECT: At(c, a) ^ In(c, p)) A Plane(p) A A Airport(a) PRECOND: In(e, p) At(p, a) Cargo(c) Plane(p) EFFECT: At(e, a) -In(c, p)) PRECOND: At(p, from) Plane(p) Airo)rt(from) Airport(to) EFFECT: At(p, from) At(p, to)) Figure 10.1 A PDDL description of an air cargo transportation planning