The situation calculus.

Deterministic actions: they have only one outcome.

• 
• startGo(MO,Rm1,t)

Stochastic actions: they have several outcomes.

terminates the process of going from location to at time t and has two outcomes: and

Sense actions: they return binary or real-valued data at the run time.

• sense(Coord,p,t) - returns the point p representing the current robot location.
• sense(Battery,v,t) - returns the real value v of voltage.

represents the initial situation.

do(endGoS(MO,Rm1,82), do(startGo(MO,Rm1,12), do(sense(Battery,24,11), do(pickup(Coffee,5), ))))
is the situation that results after executing in sequence 4 actions mentioned above.

Effects of all high-level actions are specified in the situation calculus by means of precondition and successor state axioms.