Consider the problem of planning a route for a robot to take from one city to another. The basic action taken by the robot is Go (x,y), which takes it from city x to city y if there is a direct route between those cities. DirectRoute(x,y) is true if an only if there is a direct route from x to y; you can assume that all such facts are already in the knowledge base. The robot begins in New York and must reach Los Angeles.

Write a suitable logical description of the initial situation of the Robot.

Write a suitable logical query whose solutions will provide possible paths to the goal.

Write a sentence describing the Go action. Use a successor-state axiom.