Question: Given the axioms from Figure, what are all the applicable concrete instances of Fly (p, from, to) in the state described by At (P1, JFK)

Given the axioms from Figure, what are all the applicable concrete instances of Fly (p, from, to) in the state described by At (P1, JFK) ^ At (P2, SF0) ^ Plane (P1) ^ Plane (P2) A Airport (JFK) ^ Airport(SFO)?

Init( At(C1, SFO) A At(C2, JFK)A At(P. SFO) A At(P2, JFK) A

Init( At(C1, SFO) A At(C2, JFK)A At(P. SFO) A At(P2, JFK) A Cargo(C1) A Cargo(C2) A Plane( Pi) A Plane(P2) A Airport( JFK) A Airport(SFO)) Goal( At(C1, JFK) A At(C2, SFO)) Action(Load(c, p, a), PRECOND: At(c, a) A At(p, a) A Cargo(c) A Plane(p) A Airport(a) EFFECT: - At(c, a) A In(c, p)) Action( Untoad(c, p, a), PRECOND: In(c, p) A At(p, a) A Cargo(c) A Plane(p) A Airport(a) EFFECT: At(c, a) A - In(c, p)) Action(Fly(p, from, to), PRECOND: At(p, from) A Plane(p) A Airport(from) A Airport(to) EFFECT: - At(p, from) A At(p, to))

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