$$\newcommand{\vmath}[1]{\mathsf{#1}}
\newcommand{\mapsfrom}{\leftarrow\!\shortmid}
\newcommand{\maps}{\mapsto}
\newcommand{\exc}{\vmath{\colF{exec}}}
\newcommand{\eval}{\vmath{\colR{eval}}}
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\newcommand{\triv}{\text{Triv}}
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\newcommand{\One}{\mathbf{1}}
\renewcommand{\mathbbm}[1]{\mathbb{#1}}
\renewcommand{\mathscr}[1]{\mathcal{#1}}
\newcommand{\varocircle}{⦾}
\newcommand{\varotimes}{⊗}
\newcommand{\varovee}{(\vee)}
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\newcommand{\cdprobsp}{\ensuremath{\vmath{CDP}}}
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\newcommand{\unconnectedfun}{\mathsf{UF}}
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\newcommand{\udpa}{\boldsymbol{u}_a}
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\newcommand{\udpsp}{\vmath{UDP}}
\newcommand{\udpleq}{\posleq_\udpsp}
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\newcommand{\cdpiN}{\mathcal{V}}
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\newcommand{\cdpifunindB}{j_2}
\newcommand{\dpinumf}{\vmath{nf}}
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\newcommand{\cdpinnumf}{\dpinumf_\cdpin}
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\newcommand{\cdpiE}{\mathcal{E}}
\newcommand{\subto}{\text{s.t.}}
\newcommand{\with}{\text{using}}
\newcommand{\pset}{\mathscr{P}}
\DeclareMathOperator*{\Min}{Min}
\DeclareMathOperator*{\Inf}{Inf}
\DeclareMathOperator*{\Sup}{Sup}
\DeclareMathOperator*{\Max}{Max}
\newcommand{\lowerbounds}{\vmath{lowerbounds}}
\newcommand{\upperbounds}{\vmath{upperbounds}}
\newcommand{\posMin}{\Min}
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\newcommand{\posgeq}{\succeq}
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\newcommand{\posAMin}{\mathop{{\posMin_{\posAleq}}}}
\newcommand{\posAmin}{\mathop{{\min_{\posAleq}}}}
\newcommand{\posAmax}{\mathop{{\max_{\posAleq}}}}
\newcommand{\posB}{\mathcal{Q}}
\newcommand{\posBleq}{\mathrel{{\posleq_\posB}}}
\newcommand{\posC}{\mathcal{R}}
\newcommand{\lfp}{\vmath{lfp}}
\newcommand{\prefixed}{\vmath{prefixed}}
\newcommand{\CPOs}{\textsc{CPO}s\xspace}
\newcommand{\CPO}{\textsc{CPO}\xspace}
\newcommand{\DCPOs}{\textsc{DCPO}s\xspace}
\newcommand{\DCPO}{\textsc{DCPO}\xspace}
\newcommand{\antichains}{\vmath{A}}
\newcommand{\upsets}{\vmath{U}}
\newcommand{\downsets}{\vmath{D}}
\newcommand{\upresleq}{\posleq_{\upressp}}
\newcommand{\upressp}{\upsets\ressp}
\newcommand{\allupsets}{\vmath{Up}}
\newcommand{\upit}{{\uparrow\,}}
\newcommand{\stupit}{\dot{\upit}}
\newcommand{\posetwidth}{\vmath{width}}
\newcommand{\posetheight}{\vmath{height}}
\newcommand{\posdef}[1]{\mathcal{P}_{#1}}
\newcommand{\MR}{\M{R}}
\newcommand{\myacronym}[1]{\textsc{#1}\xspace}
\newcommand{\T}[1]{\boldsymbol{{\mathsf{#1}}}}
\newcommand{\Tel}[1]{{\mathsf{#1}}}
\newcommand{\Te}[1]{\Tel{#1}}
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\newcommand{\MC}{\M{C}}
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\newcommand{\MQ}{\M{Q}}
\newcommand{\MP}{\M{P}}
\newcommand{\MS}{\M{S}}
\newcommand{\MSigma}{\M{\Sigma}}
\newcommand{\MV}{\M{V}}
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\newcommand{\SP}{P_{\text{s}}}
\newcommand{\AP}{P_{\text{a}}}
\newcommand{\SE}{E}
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\newcommand{\HP}{\Theta}
\newcommand{\np}{n}
\newcommand{\ones}{\boldsymbol{1}}
\newcommand{\idMat}{\M{I}}
\newcommand{\matTrace}{\vmath{Tr}}
\newcommand{\angleFun}{\angle}
\newcommand{\flatten}{\mathsf{vec}}
\newcommand{\batterymass}{{\colR{m}}}
\newcommand{\batterycapacity}{{\colF{C}}}
\newcommand{\batterycost}{{\colR{c}}}
\newcommand{\specificenergy}{{\colR{\rho}}}
\newcommand{\specificcost}{{\colR{\alpha}}}
\newcommand{\D}{\,\textrm{d}}
\newcommand{\ex}{\mathbb{E}}
\newcommand{\aset}[1]{\mathcal{#1}}
\newcommand{\amat}[1]{\mathbf{#1}}
\newcommand{\avec}[1]{\mathbf{#1}}
\newcommand{\rv}[1]{\boldsymbol{#1}}
\newcommand{\definedas}{\triangleq}
\newcommand{\nats}{\mathbb{N}}
\newcommand{\ints}{\mathbb{Z}}
\newcommand{\rats}{\mathbb{Q}}
\newcommand{\reals}{\mathbb{R}}
\newcommand{\comp}{\mathbb{C}}
\newcommand{\Time}{\mathbb{T}}
\newcommand{\SEthree}{\text{SE}(3)}
\newcommand{\SEtwo}{\text{SE}(2)}
\newcommand{\sethree}{\text{se}(3)}
\newcommand{\setwo}{\text{se}(2)}
\newcommand{\SOthree}{\text{SO}(3)}
\newcommand{\pose}{\boldsymbol{q}}
\newcommand{\state}{\boldsymbol{x}}
\newcommand{\statesp}{\mathcal{X}}
\newcommand{\bmu}{\boldsymbol{\mu}}
\newcommand{\bSigma}{\boldsymbol{\Sigma}}
\newcommand{\tup}[1]{\langle#1\rangle}$$
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