If you want to look deeper into this, check out this paper (PDF warning) https://ir.library.oregonstate.edu/downloads/t435gg51w https://ir.library.oregonstate.e

If you want to look deeper into this, check out this paper (PDF warning) https://ir.library.oregonstate.edu/downloads/t435gg51w https://ir.library.oregonstate.edu/downloads/t435gg51w Examples are given in Common Lisp at the end, which at least for me, is infinitely easier to read than mathematical notation.