Convert To Lamda Expression

Hi Experts.

Need help in converting the usage of the foreach to using a lamda expression to get the list of pets.

 //Looking for something like this acutalPets = people............ToList();

using Microsoft.VisualStudio.TestTools.UnitTesting;
using System.Collections.Generic;
using System.Linq;

namespace SampleTest
{
    public class Person
    {
        public string FirstName { get; set; }
        public string LastName { get; set; }
        public List<Location> Locations { get; set; }
    }

    public class Location
    {
        public string PetType { get; set; }
        public bool HasPets { get; set; }
    }

    [TestClass]
    public class UnitTest1
    {
        [TestMethod]
        public void TestMethod1()
        {
            //Arrange
            List<Person> people = new List<Person>() {
                new Person() {FirstName = "FirstName01", LastName = "LastName01",
                              Locations = new List<Location>() {
                                  new Location() { HasPets = false}
                              }
                },
                new Person() {FirstName = "FirstName02", LastName = "LastName02",
                              Locations = new List<Location>() {
                                  new Location() { PetType = "Dog", HasPets = true }
                              }
                },
                new Person() {FirstName = "FirstName03", LastName = "LastName03",
                              Locations = new List<Location>() {
                                   new Location() {PetType = "Cat", HasPets = true},
                                   new Location() {PetType = "Dog", HasPets = true},
                                   new Location() {PetType = "Axolotl", HasPets = true}
                              }
                 },
                 new Person() {FirstName = "FirstName04", LastName = "LastName04",
                               Locations = new List<Location>() {
                                    new Location() { PetType = "Cat", HasPets = true },
                                    new Location() { PetType = "Dog", HasPets = true }
                               }
                 }
            };

            List<string> expectedPets = new List<string>() { "Axolotl", "Cat", "Dog" };

            //Act
            List<string> acutalPets = new List<string>();

            foreach (var person in people)
            {
                foreach (var location in person.Locations)
                {
                    string pet = location.HasPets ? location.PetType : "";
                    if (pet != string.Empty && !acutalPets.Contains(pet))
                        acutalPets.Add(pet);
                }
            }
            //Looking for something like this acutalPets = people............ToList();

            //Assert -- IsCollectionSame is an Extension method that returns true if both collections have same content
            Assert.IsTrue(expectedPets.IsCollectionSame(acutalPets));
        }
    }
}

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TIA!