?. Dans-le-cas-de-robot2} and . 86%, Cependant, dans le cas du monde W4, les résultats sont moins bons et plus aléatoires, en adéquation avec ce qu'on pouvait attendre d'un environnement contenant des obstacles critiques pour le système (voir Section 4.1.2) En effet, les moyennes de mission réussie sont de ? ?({M * , W 4}, ?) = 33% pour Robot1, variable ?X;\ variable ?Xc;\ variable ?Xpos;\ _xi in [-oo,+oo];\ _xf in [-oo,+oo];\ _yi in [-oo,+oo];\ _yf in [-oo,+oo];\ _d in [-oo,+oo];\ ?X in [-oo,+oo];\ ?Xc in [-oo,+oo];\ ?Xpos in

\. and Y. =. Max, Yc);\ _d =. ?Xpos +. ?Ypos #define distance_uncertainty(_u)\ _u in, 2001.

M. }latepreemptive-task, t_start, t_end){ ?tilt1 in [0. -. 45., 45.]; ?tilt2 in [0. -. 45., 45.]; ?pan1 in [0. -. 90., 90, pan2 in [0. -. 90., 90.]; hold(PTU_STATE():INITED, (t_start

{. => and =. , 6.24;\ ?D in {D2} => _d =. 6;\ ?D in {D3} => _d =. 5.16;\ ?

{. Variable-?-d-;-\-?-d-in-ensdist-;-\-_p2-in, {. =>-?-d-in, D. , D. , D. et al., D10,D18};\ _p1 in {G12} => ?D in {D2,D9,D18};\ _p1 in {G13} => ?D in {D1,D11,D22};\ _p1 in {G14} => ?D in {D2,D12,D20};\ _p1 in {G15} => ?D in {D2,D12,D17};\ _p1 in {G16} => ?D in {D1,D11,D17};\ _p1 in {U1} => ?D in {D4,D13,D23};\ _p1 in {U2} => ?D in {D5,D14,D24};\ _p1 in {U3} => ?D in {D4,D13,D24};\ _p1 in {U4} => ?D in {D5,D13,D24};\ _p1, {G7} => ?D in {D3,D8,D19};\ _p1 in {G8} => ?D in {D2,D6,D19};\ _p1 in {G9} => ?D in {D2,D9,D20};\ _p1 in {G10} => ?D in {D3,D10,D21};\ _p1 in {G11} => ?D in {D3 {U5} => ?D in {D4,D15,D23};\ _p1 in {U6} => ?D in {D5,D16,D23};\ _p1 in {U7} => ?D in {D4,D15,D25};\ _p1 in {U8} => ?D in {D5,D13

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