Is there a logic to formalize the concept of "understanding"

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The question may seem little bit weird given that philosophers have been struggling to have a full grasp on the concept of "understanding".

But I'm wondering if there are any logics (modal-based or others) to formalize the following statement:

"agent A understands the proposition p" or "agent A understands that the proposition p is true"

Where "understands" could be considered as a modal operator like the epistemic modal operator "agent A knows p".

Thank you,