

\newcommand{\pupwr}{p_{u}}
\newcommand{\pdnwr}{q_{d}}
\newcommand{\puprt}{q_{u}}
\newcommand{\pdnrt}{p_{d}}
\newcommand{\pstray}{q_{s}}
\newcommand{\precover}{p_r}
\newcommand{\pright}{p}
\newcommand{\pwrong}{q}

\newcommand{\origin}{0}
\newcommand{\region}{X}
\newcommand{\slack}{S}
\newcommand{\parent}[1]{u(#1)}
\newcommand{\children}[1]{D(#1)}
\newcommand{\depth}[1]{P(#1)}
\newcommand{\child}{\region_c}
\newcommand{\z}[2]{z(#2, #1)}
\newcommand{\tiling}[2]{\mathcal{T}(#1, #2)}
\newcommand{\cell}[1]{c_{#1}}
\newcommand{\oraclestep}{m}
\newcommand{\searchstep}{s}
\newcommand{\budget}{M}
\newcommand{\rwsearch}{X}
\newcommand{\rwbd}{Z}
\newcommand{\uncertain}{U}
\newcommand{\radiusU}{r_u}
\newcommand{\far}{F}
\newcommand{\boundingbox}{\mathcal{B}}
