\chapter*{List of Symbols}
\addcontentsline{toc}{chapter}{List of Symbols}
\markboth{List of Symbols}{List of Symbols} % Headers (L/R)
\mtcaddchapter


\begin{seclist}{Topological maps}{\listcolwidth}
    \item[$\tmdepots$] A set of depot nodes, where $\tmdepots \subseteq \tmnodes$.
    \item[$\tmedges$] A set of topological map edges.
    \item[$\tm$] A topological map.
    \item[$\tmnodes$] A set of topological map nodes.
\end{seclist}

\begin{seclist}{Markov decision processes}{\listcolwidth}
    \item[$\mdpactionspace$] An action space.
    \item[$\pksmdpcostfunc$] A cost function.
    \item[$F$] A set of forbidden states, where $F \subseteq \pksmdpstatespace$.
    \item[$G$] A set of goal states, where $G \subseteq \pksmdpstatespace$.
    \item[$\pksmdphorizon$] A planning horizon.
    \item[$\pksmdp$] A Markov decision process (or variant thereof).
    \item[$\mdppolicyset$] A set of policies.
    \item[$\pksmdprewardspace$] A reward function.
    \item[$\pksmdpstatespace$] A state space.
    \item[$\pksmdpstatespaceest$] A set of unknown states (of a PKSMDP).
    \item[$\pksmdpstatespaceknown$] A set of known states (of a PKSMDP).
    \item[$\pksmdptransition$] A transition function.
\end{seclist}

\begin{seclist}{Unknown environment processes}{\listcolwidth}
    \item[$\processfunction$] An unknown process.
    \item[$\processobsspace$] The observation space of an unknown process.
    \item[$\environment$] An environment.
    \item[$\processobs$] A noisy observation.
\end{seclist}

\begin{seclist}{Gaussian processes}{\listcolwidth}
    \item[$\gpdataset$] A dataset of observations.
    \item[$\gp$] A Gaussian process.
    \item[$\gpkernel$] A  kernel function.
    \item[$\gpmean$] A  mean function.
    \item[$\gpposterior$] The posterior distribution of a Gaussian process.
    \item[$\gphypers$] The hyperparameters of a kernel function.
\end{seclist}

\begin{seclist}{Monte Carlo tree search}{\listcolwidth}
    \item[$\mctshorizon$] A planning horizon.
    \item[$\mctsnode$] A node in a search tree.
    \item[$\mctsnodeb$] A belief node in a search tree.
    \item[$\mctsnodeba$] A belief-action node in a search tree.
    \item[$\mctscount_i$] The visit count for node $\mctsnode_i \in \mctstree$.
    \item[$\mctsvalue_i$] The value estimate for node $\mctsnode_i \in \mctstree$.
    \item[$\mctstree$] A search tree.

\end{seclist}