PPT Slide

<achieved *yes*, <?0, R0>>: R0 = �if lateral-range >= threshold, then current goal is achieved.�

<lateral-range x�+y�, <?1, R1>>: R1 = �lateral range is the sum of both agents� movements plus current distance.�

<move x & y, <?3, R3>>: R3 = �each agent should move its ratio of total movement.�

An example of the sender�s inference tree for �position case�

Proof for the movement ratio

monotone cost

parallel cost

same cost

additive benefit

my free movement:

the other�s free movement:

<total-movement k, <?5, R5>>: R5 = �total-movement is difference between lateral-range limit & current distance.�

lateral-range limit

current distance

Proc1 calculates agents� movement considering each member�s constraints.

There are total 26 nodes. 20 simple inference rules & 1 complex mathematical procedure are used.

current distance

< C1, ? >: C1 = �agents have movement constraints�

Enemy position

<move x�y�, <�>> Proc1