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A rendezvous approach for correcting accumulative errors of multiple robots

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Figure

Fig. 1 Initialization for exploration discourse of a multi-robot system (n = 5); in the figure, ri represents robot i(i = 1, …, 5), Aj and Bj represent rendezvousstart and end locations of rj(j = 1, 2), respectively, and all arrows represent moving directions of the corresponding robots
Fig. 2 where the partitioning is S = {{r1, r2}, {r3, r4}, {r5, r6}}.
Table 1 Notations of predicate logic reasoning
Figure 3 showed the means of eo and eoc per grid on thetrajectories during explorations
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