“…5), then the other robot cannot place a part on the same column. For example, if robot R1 plans to place a part in the position with coordinates (2, 2), then robot R2 cannot place a part in (1,2). The predicate associated to this constraint is (all the previously introduced constraints are kept, too): P_Collision 1 ( (*, (2, i), k), (*, (1, j), k) ) = TRUE iff i ≠ j where the first predicate argument regards the choice of robot R1, and the second is for robot R2.…”