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Mutual exclusion is expressed as ∃ R j, T i ∈ E ∧ ∄ R j, T l ∈ E, l ≠ i, which means that system resource R j can only be held by a task (e.g., sensor information collection task, etc).
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This will occur at an increasingly rapid pace as robots first tackle simple tasks (such as information collection) but grow to be able to handle complex requests.
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