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292 lines
12 KiB
292 lines
12 KiB
mdp
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// parameters
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const int n_resources = 3;
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const int n_tasks = 2;
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const int n_sensors = 3;
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// sensor resources
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const int resource1=1;
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const int resource2=2;
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const int resource3=3;
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// network configuration
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const int e12=1;
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const int e13=1;
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const int e21=e12;
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const int e23=1;
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const int e31=e13;
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const int e32=e23;
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// agent is committed to some team
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formula committed = (m1_t1+m1_t2) > 0;
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// formulae to compute team sizes
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formula team_size_t1 = m1_t1+m2_t1+m3_t1;
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formula team_size_t2 = m1_t2+m2_t2+m3_t2;
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// formulae to check whether the agent can join the team
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formula can_join_t1 = e12*m2_t1 + e13*m3_t1 > 0;
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formula can_join_t2 = e12*m2_t2 + e13*m3_t2 > 0;
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// formulae to check whether agent has the resource required by the task
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formula has_resource_t1 = ( (t1_r1=1&resource1=1) | (t1_r2=1&resource1=2) | (t1_r3=1&resource1=3) );
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formula has_resource_t2 = ( (t2_r1=1&resource1=1) | (t2_r2=1&resource1=2) | (t2_r3=1&resource1=3) );
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// formulae to check whether the resource of an agent has been already filled in the team
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formula resource_filled_t1 = (m2_t1=1 & resource1=resource2) | (m3_t1=1 & resource1=resource3);
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formula resource_filled_t2 = (m2_t2=1 & resource1=resource2) | (m3_t2=1 & resource1=resource3);
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// formula to compute team initiation probability (assuming each agent has at least one connection)
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formula IP = (e12*(1-((m2_t1+m2_t2)=0?0:1))+e13*(1-((m3_t1+m3_t2)=0?0:1))) / (e12+e13);
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module controller // schedules the algorithm
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// algorithm status
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status : [0..6];
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// task resource indicator variables
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t1_r1 : [0..1];
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t1_r2 : [0..1];
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t1_r3 : [0..1];
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t2_r1 : [0..1];
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t2_r2 : [0..1];
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t2_r3 : [0..1];
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// schedule placeholders
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turn1 : [0..n_sensors];
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turn2 : [0..n_sensors];
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turn3 : [0..n_sensors];
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// selecting schedule uniformly at random
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[] status=0 -> 1/6 : (turn1'=1) & (turn2'=2) & (turn3'=3) & (status'=1)
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+ 1/6 : (turn1'=1) & (turn2'=3) & (turn3'=2) & (status'=1)
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+ 1/6 : (turn1'=2) & (turn2'=1) & (turn3'=3) & (status'=1)
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+ 1/6 : (turn1'=2) & (turn2'=3) & (turn3'=1) & (status'=1)
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+ 1/6 : (turn1'=3) & (turn2'=1) & (turn3'=2) & (status'=1)
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+ 1/6 : (turn1'=3) & (turn2'=2) & (turn3'=1) & (status'=1);
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// initialising non-empty tasks uniformly at random
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[] status=1 -> 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
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+ 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2);
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// executing the schedule
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// 1st round
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[str1] status=2 & turn1=1 -> (status'=2);
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[fin1] status=2 & turn1=1 -> (status'=3);
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[str2] status=2 & turn1=2 -> (status'=2);
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[fin2] status=2 & turn1=2 -> (status'=3);
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[str3] status=2 & turn1=3 -> (status'=2);
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[fin3] status=2 & turn1=3 -> (status'=3);
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// 2nd round
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[str1] status=3 & turn2=1 -> (status'=3);
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[fin1] status=3 & turn2=1 -> (status'=4);
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[str2] status=3 & turn2=2 -> (status'=3);
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[fin2] status=3 & turn2=2 -> (status'=4);
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[str3] status=3 & turn2=3 -> (status'=3);
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[fin3] status=3 & turn2=3 -> (status'=4);
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// 3rd round
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[str1] status=4 & turn3=1 -> (status'=4);
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[fin1] status=4 & turn3=1 -> (status'=5);
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[str2] status=4 & turn3=2 -> (status'=4);
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[fin2] status=4 & turn3=2 -> (status'=5);
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[str3] status=4 & turn3=3 -> (status'=4);
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[fin3] status=4 & turn3=3 -> (status'=5);
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[] status=5 -> (status'=6);
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[] status=6 -> true;
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endmodule
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module sensor1
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state1 : [0..1];
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// team membership indicators
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m1_t1 : [0..1];
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m1_t2 : [0..1];
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// starting turn, selecting order of tasks
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[str1] state1=0 -> (state1'=1);
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// if there is no team and has required skill - initiating the team
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[] state1=1 & !committed & team_size_t1=0 & has_resource_t1 -> (m1_t1'=1);
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[] state1=1 & !committed & team_size_t2=0 & has_resource_t2 -> (m1_t2'=1);
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// if team already exists and one of the neighbours is in it - joining the team
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[] state1=1 & !committed & team_size_t1>0 & can_join_t1 & has_resource_t1 & !resource_filled_t1 -> (m1_t1'=1);
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[] state1=1 & !committed & team_size_t2>0 & can_join_t2 & has_resource_t2 & !resource_filled_t2 -> (m1_t2'=1);
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[fin1] state1>0 -> (state1'=0);
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endmodule
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module sensor2 = sensor1
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[
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state1=state2,
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str1=str2,
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fin1=fin2,
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m1_t1=m2_t1,
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m1_t2=m2_t2,
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m2_t1=m1_t1,
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m2_t2=m1_t2,
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resource1=resource2,
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resource2=resource1,
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e12=e21,
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e13=e23,
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e14=e24,
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e15=e25,
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e21=e12,
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e23=e13,
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e24=e14,
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e25=e15
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]
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endmodule
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module sensor3 = sensor1
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[
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state1=state3,
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str1=str3,
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fin1=fin3,
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m1_t1=m3_t1,
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m1_t2=m3_t2,
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m3_t1=m1_t1,
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m3_t2=m1_t2,
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resource1=resource3,
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resource3=resource1,
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e12=e32,
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e13=e31,
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e14=e34,
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e15=e35,
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e31=e13,
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e32=e12,
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e34=e14,
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e35=e15
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]
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endmodule
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// labels and formulae for property specification
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formula finished = (status=5);
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label "end" = (status=6);
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formula task1_completed = finished
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& ((t1_r1=1)=>((m1_t1=1&resource1=1)|(m2_t1=1&resource2=1)|(m3_t1=1&resource3=1)))
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& ((t1_r2=1)=>((m1_t1=1&resource1=2)|(m2_t1=1&resource2=2)|(m3_t1=1&resource3=2)))
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& ((t1_r3=1)=>((m1_t1=1&resource1=3)|(m2_t1=1&resource2=3)|(m3_t1=1&resource3=3)));
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formula task2_completed = finished
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& ((t2_r1=1)=>((m1_t2=1&resource1=1)|(m2_t2=1&resource2=1)|(m3_t2=1&resource3=1)))
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& ((t2_r2=1)=>((m1_t2=1&resource1=2)|(m2_t2=1&resource2=2)|(m3_t2=1&resource3=2)))
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& ((t2_r3=1)=>((m1_t2=1&resource1=3)|(m2_t2=1&resource2=3)|(m3_t2=1&resource3=3)));
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formula agent1_joins_successful_team = (task1_completed & m1_t1=1) | (task2_completed & m1_t2=1);
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formula agent1_joins_successful_team_of_1 = (task1_completed & m1_t1=1 & team_size_t1=1) | (task2_completed & m1_t2=1 & team_size_t2=1);
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formula agent1_joins_successful_team_of_2 = (task1_completed & m1_t1=1 & team_size_t1=2) | (task2_completed & m1_t2=1 & team_size_t2=2);
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formula agent1_joins_successful_team_of_3 = (task1_completed & m1_t1=1 & team_size_t1=3) | (task2_completed & m1_t2=1 & team_size_t2=3);
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formula agent2_joins_successful_team = (task1_completed & m2_t1=1) | (task2_completed & m2_t2=1);
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formula agent2_joins_successful_team_of_1 = (task1_completed & m2_t1=1 & team_size_t1=1) | (task2_completed & m2_t2=1 & team_size_t2=1);
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formula agent2_joins_successful_team_of_2 = (task1_completed & m2_t1=1 & team_size_t1=2) | (task2_completed & m2_t2=1 & team_size_t2=2);
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formula agent2_joins_successful_team_of_3 = (task1_completed & m2_t1=1 & team_size_t1=3) | (task2_completed & m2_t2=1 & team_size_t2=3);
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formula agent3_joins_successful_team = (task1_completed & m3_t1=1) | (task2_completed & m3_t2=1);
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formula agent3_joins_successful_team_of_1 = (task1_completed & m3_t1=1 & team_size_t1=1) | (task2_completed & m3_t2=1 & team_size_t2=1);
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formula agent3_joins_successful_team_of_2 = (task1_completed & m3_t1=1 & team_size_t1=2) | (task2_completed & m3_t2=1 & team_size_t2=2);
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formula agent3_joins_successful_team_of_3 = (task1_completed & m3_t1=1 & team_size_t1=3) | (task2_completed & m3_t2=1 & team_size_t2=3);
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label "task1_compl" = task1_completed;
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label "task2_compl" = task2_completed;
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// rewards
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rewards "w_1_total"
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[] agent1_joins_successful_team : 1;
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[] agent2_joins_successful_team : 1;
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[] agent3_joins_successful_team : 1;
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endrewards
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rewards "w_2_total"
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[] task1_completed : 1;
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[] task2_completed : 1;
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endrewards
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