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Transformational Planning of Reactive Behavior - DTIC

... ')^-0 = 0',Vx,. (4.232) we can rewrite (4.231) as. 1. 0 otherwise, and as a ... 1) is computed: §(k+i) =êf> + \ki\7gfogfAAm. + VefogfAe+1\g(k} + VeMêw )?. (4 ...



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