In this paper, we use Tarski-Seidenberg algorithm (for deciding the first order theory of real numbers) to design an algorithm that, given a polynomial mapping φ: C^{k} --> C^{n} which is known to be rectifiable, returns a polynomial mapping α: C^{n} --> C^{n} that rectifies φ.

The above general algorithm is not practical for large n, since its computation time grows faster than 2^{(2n)}. To make computations more practically useful, for several important case, we have also designed a much faster alternative algorithm.

In this paper, we show that, in general, it is possible to use model reduction techniques to decrease the number of questions and thus, to make rules elicitation possible. In addition to general results, we also show that for the UAVs, optimal control indeed leads to a model reduction -- and thus, to a drastic potential decrease in the corresponding number of questions.

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