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Feature geometry for each state of the heterogeneous multi-robot system of Figure 5.
| Conventional Alphabet | Vehicle (crawler/quad) | Motion (move/stop) | Tether untethered/attach/ethered) |
|---|---|---|---|
| a | crawler | move | untethered |
| b | crawler | stop | untethered |
| c | quad | move | untethered |
| d | quad | stop | untethered |
| t | crawler | move | attach |
| A | crawler | move | tethered |
| B | crawler | stop | tethered |
| C | quad | move | tethered |
| D | quad | stop | tethered |
