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

a. 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.

b. 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.

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

d. 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.