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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