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The clear formulation of the problem and performance measures allow us to precisely analyze and compare existing DR-planners that use two well-known types of decomposition methods: SR (constraint shape recognition) and MM (generalized maximum matching) on constraint graphs.
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"Mathematical formulation" section presents the mathematical formulation of the problem.
Consider a variational formulation of the problem.
Formulation of the problem is presented in "Problem description" section.
Formulation of the problem is introduced.
We proceed to the formulation of the problem.
The mathematical formulation of the problem is discussed in Sect.
This is called the extensive formulation of the problem.
Formulation of the problem for multiple robot path planning has been elaborated in "Problem formulation for multiple robot navigation" section.
That question is a simple formulation of the problem of induction.
The mathematical formulation of the problem is introduced in "Problem description" section.
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