Let us consider how we might translate a set of STRIPS schemata into the successorstate axioms of situation calculus. (See Chapter 10.)

a Consider the schema for Fly@, from, to). Write a logical definition for the predicate FlyPrecond(p, from, to, s), which is true if the preconditions for Fly(p, from, to) are satisfied in situation s.

Next, assuming that Fly@, from, to) is the only action schema available to the agent, write down a successor-state axiom for At@, x, s) that captures the same information as the action schema.

a Now suppose there is an additional method of travel: Teleport(p, from, to). It has the additional precondition 7 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 STRIPS schemata to a set of successor-state axioms.