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 |