This article gives the logical foundations for the situations-as-histories 
variant of the situation calculus, focusing on the following items:
<ul>

<li>  The language of the situation calculus.
<li>  Foundational axioms for the domain of situations. 
<li>  Axioms for an underlying domain theory.
<li>  The syntax and semantics of the logic programming language GOLOG.
<li>  Axioms for knowledge and sensing actions.
<li>  Essential metatheoretic results about the situation calculus.
</ul>