Complex sentence: Branno orders him to leave Terminus to search for the Second Foundation; as a cover, he is to be accompanied by Janov Pelorat, a professor of Ancient History and mythologist, who is interested in the location of Earth, the fabled homeworld of humanity.
Split into simpler sentences: Branno orders him to leave Terminus to search for the Second Foundation. As a cover, he is to be accompanied by Janov Pelorat, a professor of Ancient History and mythologist, who is interested in the location of Earth, the fabled homeworld of humanity.