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Table 1 Notations of predicate logic reasoning

From: A rendezvous approach for correcting accumulative errors of multiple robots

Predicates Belonged A robot is belonged to a subset
Moved A robot moved along a direction
Travelled A robot has traveled a distance
Be_oppst Moving directions of two robots are opposite
Be_close Distance between two robots is close
Rcgnz A robot can recognize the other robot
Fuse Two robots fuse location information
Coord x , Coord y Coordinates x or y of a robot
Avoids Avoids an object (a robot, or an obstacle)
Turns Changes current exploring direction
Variables r i Robot r i (i = 1,…,n)
S k Subset k of the multi-robot system
dir i Moving direction of r i
d r Rendezvous distance