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73 lines
2.2 KiB
73 lines
2.2 KiB
// GRID WORLD MODEL OF A SEMIAUTONOMOUS EXPLORING ROBOT
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// Sebastian Junges, RWTH Aachen University
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// As described in
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// Junges, Jansen, Dehnert, Topcu, Katoen:
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// Safety Constrained Reinforcement Learning
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// Proc. of TACAS’16
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mdp
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//PARAMETERS
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//The difference of the reliability of the channels between the worst and at the best position
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const double pLDiff;//=0.1;
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const double pHDiff;//=0.1;
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//Scaling factor for the minimum reliability of the channels
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const double pL;//=8/9;
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const double pH;//=1;
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//CONSTANTS
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//The minimum reliablities
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const double pLMin=pL*(1-pLDiff);
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const double pHMin=pH*(1-pHDiff);
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// Grid size
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const int Xsize = 6;
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const int Ysize = 6;
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// Number of tries before an error
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const int MAXTRIES = 2;
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// Ball within the robot has to move.
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const int B=2;
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formula T = (xLoc = Xsize & yLoc = Ysize);
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module robot
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xLoc : [1..Ysize] init 1;
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yLoc : [1..Xsize] init 1;
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unreported : [0..B] init 0;
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hasSendNow : bool init false;
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tries : [0..MAXTRIES] init 0;
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[up] xLoc < Xsize & !T & hasSendNow -> 1:(xLoc'=xLoc+1) & (unreported' = 0) & (hasSendNow'=false);
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[up] xLoc < Xsize & !T & !hasSendNow -> 1:(xLoc'=xLoc+1) & (unreported'=min(unreported+1, B));
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[right] yLoc < Ysize & !T & hasSendNow -> 1:(yLoc'=yLoc+1) & (unreported' = 0)& (hasSendNow'=false);
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[right] yLoc < Ysize & !T & !hasSendNow -> 1:(yLoc'=yLoc+1) & (unreported'=min(unreported+1,B));
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[sendL] !hasSendNow & !T & tries < MAXTRIES -> (pLMin + pLDiff * xLoc/Xsize):(hasSendNow'=true) & (tries'=0) + (1 - pLMin - pLDiff * xLoc/Xsize): (tries'=tries+1);
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[sendH] !hasSendNow & !T & tries < MAXTRIES -> (pHMin + pHDiff * yLoc/Ysize):(hasSendNow'=true) & (tries'=0) + (1 - pHMin - pHDiff * yLoc/Ysize): (tries'=tries+1);
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[done] T -> 1:true;
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endmodule
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rewards "sendbased"
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[up] true: 0.03;
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[right] true: 0.03;
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[sendL] true: max(10, min(11 + xLoc - yLoc, 20));
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[sendH] true: min(13 + xLoc + yLoc, 24);
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endrewards
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rewards "sendbased_lower"
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[up] true: 0.03;
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[right] true: 0.03;
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[sendL] true: 10;
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[sendH] true: 12;
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endrewards
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rewards "sendbased_upper"
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[up] true: 0.03;
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[right] true: 0.03;
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[sendL] true: 20;
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[sendH] true: 24;
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endrewards
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label "Target" = T;
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label "Crash" = unreported=B;
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