what does ⊕ and ⊖ mean in regard to matrix/vector operations?

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In the context of simultaneous calibration in robotics with a differential drive robot a particular formula was shown to me.

Regarding the operations on this vectors, what does the symbols ⊕ and ⊖ mean?

Simultaneous Calibration

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They don't look like standard operations to me, but they are explicitly defined in the picture you attached.