Table 11.

Forbidden 2-factors constituting the strictly 2-Local grammar for the cooperative behavior of the heterogeneous robotic system of Figure 5, under the Conventional and Unconventional Word Models.

Unconventional model	Conventional model
initial-stop	⋊b, ⋊d, ⋊B, ⋊D
initial-attach	⋊t
initial-tethered	⋊A, ⋊B, ⋊C, ⋊D
move-final	a⋉, c⋉, t⋉, A⋉, C⋉
untethered-tethered	aA, aB, aC, aD, bA, bB, bC, bD, cA, cB, cC, cD, dA, dB, dC, dD
tethered-untethered	Aa, Ab, Ac, Ad, Ba, Bb, Bc, Bd, Ca, Cb, Cc, Cd, Da, Db, Dc, Dd
move-move	aa, cc, ac, at, ca, ct, tt, tA, tC, AA, CC, At, AC, Ct, CA
stop-stop	bb, dd, bd, db, BB, DD BD, DB
attach-untethered	tb, td
tethered-attach	Bt, Dt
[move, crawler][stop, quad]	ad, AD
[move, quad][stop, crawler]	cb, CB