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Can I know how we get the relation formula from the diagram ? Do we need to follow any steps? it would be great if it can be shared? 

in * TF "Emb. Sys. and Rob." by (220 points)

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As mentioned in the Q&A session today, that is done as follows: For a deterministic automaton, we can always write down the transition relation as a conjunction of equivalences of the form Xq_i <-> phi_i such that phi_i is a propositional logic formula on the current state and input variables that enumerates all transitions pointing to a state where q_i holds next.
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