|
|
mdp
const int initY = 40;const int initX = 80;
const int maxY = 210;const int minX = 4;const int maxX = 144;
formula Gate_1 = ((42<x & x<50 | 74<x & x=80) & 184<y & y<172);formula Gate_2 = ((x=71 | x=104) & y=261);formula Gate_3 = ((x=81 | x=113) & y=353);formula Gate_4 = ((x=55 | x=88) & y=446);formula Gate_5 = ((x=79 | x=110) & y=538);
formula Passed_Gate_1 = ((x>41 & x<73) & (y>160 & y<176)); //(y=168));formula Passed_Gate_2 = ((x>71 & x<104) & (y>253 & y<269)); //(y=261));formula Passed_Gate_3 = ((x>81 & x<113) & (y>345 & y<361)); //(y=353));formula Passed_Gate_4 = ((x>55 & x<88) & (y>438 & y<454)); //(y=446));formula Passed_Gate_5 = ((x>79 & x<110) & (y>530 & y<546)); //(y=538));formula Left_Gate_1 = y>176;formula Left_Gate_2 = y>269;formula Left_Gate_3 = y>361;formula Left_Gate_4 = y>454;formula Left_Gate_5 = y>546;
formula Tree_1 = ((x>=124 & x<=142) & (y>=190 & y<=200));formula Tree_2 = ((x>=32 & x<=42) & (y>=287 & y<=297));formula Tree_3 = ((x>=28 & x<=38) & (y>=317 & y<=327));formula Tree_4 = ((x>=12 & x<=22) & (y>=408 & y<=418));formula Tree_5 = ((x>=129 & x<=139) & (y>=468 & y<=480));formula Tree_6 = ((x>=140 & x<=144) & (y>=496 & y<=510));
formula Hit_Tree = Tree_1 | Tree_2 | Tree_3 | Tree_4 | Tree_5 | Tree_6;formula Hit_Gate = Gate_1 | Gate_2 | Gate_3 | Gate_4 | Gate_5;formula Passed_Gate = Passed_Gate_1 | Passed_Gate_2 | Passed_Gate_3 | Passed_Gate_4 | Passed_Gate_5;formula Left_Gate = Left_Gate_1 | Left_Gate_2 | Left_Gate_3 | Left_Gate_4 | Left_Gate_5;
global move : [0..3];
formula Fixed_Left = false;formula Fixed_Right = false;formula Fixed_Noop = false;formula Fixed = Fixed_Left | Fixed_Right | Fixed_Noop;
module skier ski_position : [1..14] ; done : bool ;
passed_gate : bool ;
[left] !Fixed & !passed_gate & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (done'=(Hit_Tree|Hit_Gate))& (passed_gate'=(Passed_Gate)); [right] !Fixed & !passed_gate & move=0 & ski_position<14 -> (ski_position'=ski_position+1) & (move'=1) & (done'=(Hit_Tree|Hit_Gate))& (passed_gate'=(Passed_Gate)); [noop] !Fixed & !passed_gate & move=0 -> (move'=1) & (done'=(Hit_Tree|Hit_Gate))& (passed_gate'=(Passed_Gate));
[left] !Fixed & passed_gate & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (done'=(Hit_Tree|Hit_Gate))& (passed_gate'=(Left_Gate)); [right] !Fixed & passed_gate & move=0 & ski_position<14 -> (ski_position'=ski_position+1) & (move'=1) & (done'=(Hit_Tree|Hit_Gate))& (passed_gate'=(Left_Gate)); [noop] !Fixed & passed_gate & move=0 -> (move'=1) & (done'=(Hit_Tree|Hit_Gate))& (passed_gate'=(Left_Gate));
[left] Fixed_Left & move=0 -> (ski_position'=ski_position-1) & (move'=1) & (done'=(Hit_Tree|Hit_Gate))& (passed_gate'=(Left_Gate)); [right] Fixed_Right & move=0 -> (ski_position'=ski_position+1) & (move'=1) & (done'=(Hit_Tree|Hit_Gate))& (passed_gate'=(Left_Gate)); [noop] Fixed_Noop & move=0 -> (move'=1) & (done'=(Hit_Tree|Hit_Gate))& (passed_gate'=(Left_Gate));
[done] done -> true;endmodule
module updateY y : [initY..maxY] ;
velocity: [0..16]; standstill : [0..8] ; [update_y] move=1 & standstill>=5 -> (y'=y) & (move'=2); [update_y] move=1 & standstill<5 -> (y'=min(maxY,y+velocity)) & (move'=2);
[update_y] move=2 & (ski_position=1 | ski_position = 14) & standstill>=5 -> (standstill'=min(8,standstill+1)) & (move'=3); [update_y] move=2 & (ski_position=1 | ski_position = 14) & standstill<5 -> (velocity'=max(0,velocity-4)) &(move'=3); [update_y] move=2 & (ski_position=2 | ski_position = 3 | ski_position = 12 | ski_position = 13) -> (velocity'=max(0 ,velocity-2)) & (standstill'=0) & (move'=3); [update_y] move=2 & (ski_position=4 | ski_position = 5 | ski_position = 10 | ski_position = 11) -> (velocity'=min(16,velocity+2)) & (standstill'=0) & (move'=3); [update_y] move=2 & (ski_position=6 | ski_position = 7 | ski_position = 8 | ski_position = 9) -> (velocity'=min(16,velocity+4)) & (standstill'=0) & (move'=3);endmodule
module updateX x : [minX..maxX] ;
[update_x] move=3 & standstill>=8 -> (move'=0); [update_x] move=3 & standstill<8 & (ski_position=7 | ski_position=8) -> (move'=0);
[update_x] move=3 & standstill<8 & ski_position=6 -> 0.1: (x'=max(minX,x-2)) + 0.7: (x'=max(minX,x-4)) + 0.2: (x'=max(minX,x-6)) & (move'=0); [update_x] move=3 & standstill<8 & ski_position=9 -> 0.1: (x'=min(maxX,x+2)) + 0.7: (x'=min(maxX,x+4)) + 0.2: (x'=min(maxX,x+6)) & (move'=0);
[update_x] move=3 & standstill<8 & (ski_position=4 | ski_position=5) -> 0.1: (x'=max(minX,x-4)) + 0.7: (x'=max(minX,x-6)) + 0.2: (x'=max(minX,x-8)) & (move'=0); [update_x] move=3 & standstill<8 & (ski_position=10 | ski_position=11) -> 0.1: (x'=min(maxX,x+4)) + 0.7: (x'=min(maxX,x+6)) + 0.2: (x'=min(maxX,x+8)) & (move'=0);
[update_x] move=3 & standstill<8 & (ski_position=2 | ski_position=3) -> 0.1: (x'=max(minX,x-4)) + 0.7: (x'=max(minX,x-6)) + 0.2: (x'=max(minX,x-8)) & (move'=0); [update_x] move=3 & standstill<8 & (ski_position=12 | ski_position=13) -> 0.1: (x'=min(maxX,x+4)) + 0.7: (x'=min(maxX,x+6)) + 0.2: (x'=min(maxX,x+8)) & (move'=0);
[update_x] move=3 & standstill<8 & (ski_position=1) -> 0.1: (x'=max(minX,x-0)) + 0.7: (x'=max(minX,x-2)) + 0.2: (x'=max(minX,x-4)) & (move'=0); [update_x] move=3 & standstill<8 & (ski_position=14) -> 0.1: (x'=min(maxX,x+0)) + 0.7: (x'=min(maxX,x+2)) + 0.2: (x'=min(maxX,x+4)) & (move'=0);endmodule
rewards [left] !passed_gate & standstill<2 & Passed_Gate: 100; [right] !passed_gate & standstill<2 & Passed_Gate: 100; [noop] !passed_gate & standstill<2 & Passed_Gate: 100;
[left] !done & (Hit_Tree) : -100; [right] !done & (Hit_Tree) : -100; [noop] !done & (Hit_Tree) : -100; [left] !done & (Hit_Gate) : -100; [right] !done & (Hit_Gate) : -100; [noop] !done & (Hit_Gate) : -100;endrewards
|
