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Tempest_in_Action/tempest-devel/resources/examples/testfiles/mdp/multiobj_team3.nm

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  1. mdp
  3. // parameters
  4. const int n_resources = 3;
  5. const int n_tasks = 2;
  6. const int n_sensors = 3;
  9. // sensor resources
  10. const int resource1=1;
  11. const int resource2=2;
  12. const int resource3=3;
  14. // network configuration
  15. const int e12=1;
  16. const int e13=1;
  18. const int e21=e12;
  19. const int e23=1;
  21. const int e31=e13;
  22. const int e32=e23;
  27. // agent is committed to some team
  28. formula committed = (m1_t1+m1_t2) > 0;
  30. // formulae to compute team sizes
  31. formula team_size_t1 = m1_t1+m2_t1+m3_t1;
  32. formula team_size_t2 = m1_t2+m2_t2+m3_t2;
  34. // formulae to check whether the agent can join the team
  35. formula can_join_t1 = e12*m2_t1 + e13*m3_t1 > 0;
  36. formula can_join_t2 = e12*m2_t2 + e13*m3_t2 > 0;
  38. // formulae to check whether agent has the resource required by the task
  39. formula has_resource_t1 = ( (t1_r1=1&resource1=1) | (t1_r2=1&resource1=2) | (t1_r3=1&resource1=3) );
  40. formula has_resource_t2 = ( (t2_r1=1&resource1=1) | (t2_r2=1&resource1=2) | (t2_r3=1&resource1=3) );
  42. // formulae to check whether the resource of an agent has been already filled in the team
  43. formula resource_filled_t1 = (m2_t1=1 & resource1=resource2) | (m3_t1=1 & resource1=resource3);
  44. formula resource_filled_t2 = (m2_t2=1 & resource1=resource2) | (m3_t2=1 & resource1=resource3);
  46. // formula to compute team initiation probability (assuming each agent has at least one connection)
  47. formula IP = (e12*(1-((m2_t1+m2_t2)=0?0:1))+e13*(1-((m3_t1+m3_t2)=0?0:1))) / (e12+e13);
  50. module controller // schedules the algorithm
  52. // algorithm status
  53. status : [0..6];
  55. // task resource indicator variables
  56. t1_r1 : [0..1];
  57. t1_r2 : [0..1];
  58. t1_r3 : [0..1];
  60. t2_r1 : [0..1];
  61. t2_r2 : [0..1];
  62. t2_r3 : [0..1];
  64. // schedule placeholders
  65. turn1 : [0..n_sensors];
  66. turn2 : [0..n_sensors];
  67. turn3 : [0..n_sensors];
  69. // selecting schedule uniformly at random
  70. [] status=0 -> 1/6 : (turn1'=1) & (turn2'=2) & (turn3'=3) & (status'=1)
  71. + 1/6 : (turn1'=1) & (turn2'=3) & (turn3'=2) & (status'=1)
  72. + 1/6 : (turn1'=2) & (turn2'=1) & (turn3'=3) & (status'=1)
  73. + 1/6 : (turn1'=2) & (turn2'=3) & (turn3'=1) & (status'=1)
  74. + 1/6 : (turn1'=3) & (turn2'=1) & (turn3'=2) & (status'=1)
  75. + 1/6 : (turn1'=3) & (turn2'=2) & (turn3'=1) & (status'=1);
  78. // initialising non-empty tasks uniformly at random
  79. [] status=1 -> 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  80. + 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  81. + 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  82. + 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
  83. + 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  84. + 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  85. + 1/49 : (t1_r1'=0) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  86. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  87. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  88. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  89. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
  90. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  91. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  92. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  93. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  94. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  95. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  96. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
  97. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  98. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  99. + 1/49 : (t1_r1'=0) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  100. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  101. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  102. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  103. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
  104. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  105. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  106. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  107. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  108. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  109. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  110. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
  111. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  112. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  113. + 1/49 : (t1_r1'=1) & (t1_r2'=0) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  114. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  115. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  116. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  117. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
  118. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  119. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  120. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=0) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  121. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  122. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  123. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=0) & (t2_r2'=1) & (t2_r3'=1) & (status'=2)
  124. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=0) & (status'=2)
  125. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=0) & (t2_r3'=1) & (status'=2)
  126. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=0) & (status'=2)
  127. + 1/49 : (t1_r1'=1) & (t1_r2'=1) & (t1_r3'=1) & (t2_r1'=1) & (t2_r2'=1) & (t2_r3'=1) & (status'=2);
  129. // executing the schedule
  131. // 1st round
  132. [str1] status=2 & turn1=1 -> (status'=2);
  133. [fin1] status=2 & turn1=1 -> (status'=3);
  134. [str2] status=2 & turn1=2 -> (status'=2);
  135. [fin2] status=2 & turn1=2 -> (status'=3);
  136. [str3] status=2 & turn1=3 -> (status'=2);
  137. [fin3] status=2 & turn1=3 -> (status'=3);
  139. // 2nd round
  140. [str1] status=3 & turn2=1 -> (status'=3);
  141. [fin1] status=3 & turn2=1 -> (status'=4);
  142. [str2] status=3 & turn2=2 -> (status'=3);
  143. [fin2] status=3 & turn2=2 -> (status'=4);
  144. [str3] status=3 & turn2=3 -> (status'=3);
  145. [fin3] status=3 & turn2=3 -> (status'=4);
  147. // 3rd round
  148. [str1] status=4 & turn3=1 -> (status'=4);
  149. [fin1] status=4 & turn3=1 -> (status'=5);
  150. [str2] status=4 & turn3=2 -> (status'=4);
  151. [fin2] status=4 & turn3=2 -> (status'=5);
  152. [str3] status=4 & turn3=3 -> (status'=4);
  153. [fin3] status=4 & turn3=3 -> (status'=5);
  155. [] status=5 -> (status'=6);
  157. [] status=6 -> true;
  159. endmodule
  161. module sensor1
  163. state1 : [0..1];
  165. // team membership indicators
  166. m1_t1 : [0..1];
  167. m1_t2 : [0..1];
  169. // starting turn, selecting order of tasks
  170. [str1] state1=0 -> (state1'=1);
  172. // if there is no team and has required skill - initiating the team
  173. [] state1=1 & !committed & team_size_t1=0 & has_resource_t1 -> (m1_t1'=1);
  174. [] state1=1 & !committed & team_size_t2=0 & has_resource_t2 -> (m1_t2'=1);
  176. // if team already exists and one of the neighbours is in it - joining the team
  177. [] state1=1 & !committed & team_size_t1>0 & can_join_t1 & has_resource_t1 & !resource_filled_t1 -> (m1_t1'=1);
  178. [] state1=1 & !committed & team_size_t2>0 & can_join_t2 & has_resource_t2 & !resource_filled_t2 -> (m1_t2'=1);
  180. [fin1] state1>0 -> (state1'=0);
  182. endmodule
  184. module sensor2 = sensor1
  185. [
  186. state1=state2,
  188. str1=str2,
  189. fin1=fin2,
  191. m1_t1=m2_t1,
  192. m1_t2=m2_t2,
  194. m2_t1=m1_t1,
  195. m2_t2=m1_t2,
  197. resource1=resource2,
  198. resource2=resource1,
  200. e12=e21,
  201. e13=e23,
  202. e14=e24,
  203. e15=e25,
  205. e21=e12,
  206. e23=e13,
  207. e24=e14,
  208. e25=e15
  209. ]
  210. endmodule
  212. module sensor3 = sensor1
  213. [
  214. state1=state3,
  216. str1=str3,
  217. fin1=fin3,
  219. m1_t1=m3_t1,
  220. m1_t2=m3_t2,
  221. m3_t1=m1_t1,
  222. m3_t2=m1_t2,
  224. resource1=resource3,
  225. resource3=resource1,
  227. e12=e32,
  228. e13=e31,
  229. e14=e34,
  230. e15=e35,
  232. e31=e13,
  233. e32=e12,
  234. e34=e14,
  235. e35=e15
  236. ]
  237. endmodule
  242. // labels and formulae for property specification
  243. formula finished = (status=5);
  244. label "end" = (status=6);
  247. formula task1_completed = finished
  248. & ((t1_r1=1)=>((m1_t1=1&resource1=1)|(m2_t1=1&resource2=1)|(m3_t1=1&resource3=1)))
  249. & ((t1_r2=1)=>((m1_t1=1&resource1=2)|(m2_t1=1&resource2=2)|(m3_t1=1&resource3=2)))
  250. & ((t1_r3=1)=>((m1_t1=1&resource1=3)|(m2_t1=1&resource2=3)|(m3_t1=1&resource3=3)));
  252. formula task2_completed = finished
  253. & ((t2_r1=1)=>((m1_t2=1&resource1=1)|(m2_t2=1&resource2=1)|(m3_t2=1&resource3=1)))
  254. & ((t2_r2=1)=>((m1_t2=1&resource1=2)|(m2_t2=1&resource2=2)|(m3_t2=1&resource3=2)))
  255. & ((t2_r3=1)=>((m1_t2=1&resource1=3)|(m2_t2=1&resource2=3)|(m3_t2=1&resource3=3)));
  259. formula agent1_joins_successful_team = (task1_completed & m1_t1=1) | (task2_completed & m1_t2=1);
  260. 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);
  261. 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);
  262. 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);
  264. formula agent2_joins_successful_team = (task1_completed & m2_t1=1) | (task2_completed & m2_t2=1);
  265. 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);
  266. 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);
  267. 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);
  269. formula agent3_joins_successful_team = (task1_completed & m3_t1=1) | (task2_completed & m3_t2=1);
  270. 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);
  271. 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);
  272. 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);
  275. label "task1_compl" = task1_completed;
  276. label "task2_compl" = task2_completed;
  278. // rewards
  279. rewards "w_1_total"
  280. [] agent1_joins_successful_team : 1;
  281. [] agent2_joins_successful_team : 1;
  282. [] agent3_joins_successful_team : 1;
  283. endrewards
  285. rewards "w_2_total"
  286. [] task1_completed : 1;
  287. [] task2_completed : 1;
  288. endrewards