main module  {
program  {
  % Drive economically if low on gas.
  if bel  (low (gas), dest (X)) then  drive (dest (X), eco).
  % Drive fast if busy.
  if bel  (busy, dest (X)) then  drive (dest (X), fast).
  % Drive comfortably otherwise.
  if bel  (dest (X)) then  drive (dest (X), comfort).
  % If no driving options the car simply idles.
  if true then  skip.
 }
}
Algorithm 6