| http://www.w3.org/ns/prov#value | - wherein k1 and k2 are constants, d is a distance between the first receiver and the second receiver, t is a time elapsed when changing a present mode to a subsequent mode in the course of changing the traveling modes, s is a speed of the autonomous navigation machine, r is a radius of the recognizable area, and z denotes a recognition state, which can be set to 1 when the radio signal is received
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