${\mathrm{R}}_{\mathrm{h}/\mathrm{d}}$	Robot ID of hitchhiker (h)/driver (d)
${\mathrm{S}}_{\mathrm{h}/\mathrm{d}}$	Start location of hitchhiker (h)/driver (d)
${\mathrm{G}}_{\mathrm{h}/\mathrm{d}}$	Goal location of hitchhiker (h)/driver (d)
${\mathrm{T}}_{\mathrm{h}/\mathrm{d}}$	Task priority of hitchhiker (h)/driver (d)
${\mathrm{P}}_{\mathrm{h}/\mathrm{d}}$	Robot profile of hitchhiker (h)/driver (d)
${\mathrm{T}}_{\mathrm{hwait}}$	Threshold hitchhike wait time
${\mathrm{T}}_{\mathrm{align}}$	Threshold alignment time
${\mathrm{T}}_{\mathrm{coupling}}$	Threshold coupling time
${\mathrm{T}}_{\mathrm{dhh}}$	Threshold hitchhiking distance
$\mathsf{\Sigma }$	Positional uncertainty of robot
$\mathsf{\Omega }$	New static obstacles
${[x,y,\theta ]}^T$	Robot Pose
SLAM	Simultaneous Localization and Mapping
EKF	Extended Kalman Filter