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We use the following Boolean variables:
\begin{itemize}
\item $a$ represents ``The robot visits region A''
\item $b$ represents ``The robot visits region B''
\item $c$ represents ``The robot visits region C''
\end{itemize}
\begin{itemize}
\item $\varphi_1 \coloneqq E(GF a \wedge GF c)$
\item $\varphi_2 \coloneqq A (GF a \wedge FG \neg c)$
\item $\varphi_3 \coloneqq A (GF a \rightarrow GF c)$
\end{itemize}