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Show PDF File - robotics - Universidad de Zaragoza

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t<br />

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Gdis. <br />

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i r(0) = {[i1]r,1, . . . , [in]r,mn} ∈ {0, 1} msum <br />

f i r [ i r(0)]u, u = 1, . . . , msum, u th <br />

<br />

i<br />

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<br />

i r(t), r ∈ Si j ∈ Ni<br />

j s(t), j ∈ Ni, s ∈ Sj<br />

r ∈ Si <br />

j ∈ Ni, s ∈ Sj | [ij]r,s = 1 <br />

i r(t + 1) = i r(t) ∨ j s(t)<br />

<br />

r ′ ∈ Si ∃ u ∈ {1, . . . , msum} [ i r(t)]u =<br />

[ i r ′(t)]u = 1 <br />

i r(t + 1) = i r(t) ∨ i r ′(t)<br />

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<br />

i r(t + 1) = i r(t) ∀r ∈ Si<br />

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2m 2 sum.<br />

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i r

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