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Fix action sequence notation in README.md #9

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Fix action sequence notation in README.md #9

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6 changes: 3 additions & 3 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -494,13 +494,13 @@ sequenceDiagram

Note over Robot: Current State: st

Model->>Controller: Output action sequence: [at+1, at+2, ..., at+n]
Model->>Controller: Output action sequence: [a(t+1), a(t+2), ..., a(t+n)]

Note over Controller: Actions always calculated relative to initial state st

loop Execute action sequence i = 1 to n
Controller->>Robot: Execute action: st + at+i
Robot-->>Controller: Reach state st+i = st + at+i
Controller->>Robot: Execute action: st + a(t+i)
Robot-->>Controller: Reach state s(t+i) = st + a(t+i)
end

Note over Robot: Final State: st+n
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