Full Idea
A 'frame' consists of a non-empty set G, whose members are generally called possible worlds, and a binary relation R, on G, generally called the accessibility relation. We say the frame is the pair
Clarification
[the G and R are usually printed in a script font]
Gist of Idea
A 'frame' is a set G of possible worlds, with an accessibility relation R, written < G,R >
Source
M Fitting/R Mendelsohn (First-Order Modal Logic [1998], 1.6)
Book Reference
Fitting,M/Mendelsohn,R: 'First-Order Modal Logic' [Synthese 1998], p.12