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Executing a Golog program on an actual robot typically requires additional steps to account for hardware or software details of the robot platform, which can be formulated as constraints on the program. Such constraints are often temporal, refer to metric time, and require modifications to the abstract Golog program. We describe how to formulate such constraints based on a modal variant of the Situation Calculus. These constraints connect the abstract program with the platform models, which wedoi:10.18154/rwth-2021-02072 fatcat:x7wvsv4smbex7cljy7cx5qnk5y