non-fluents nf_crossing_traffic_inst_mdp__10 {
domain = crossing_traffic_mdp;
objects {
xpos : {x1,x2,x3,x4,x5,x6,x7};
ypos : {y1,y2,y3,y4,y5,y6,y7};
};
non-fluents {
NORTH(y1,y2);
SOUTH(y2,y1);
NORTH(y2,y3);
SOUTH(y3,y2);
NORTH(y3,y4);
SOUTH(y4,y3);
NORTH(y4,y5);
SOUTH(y5,y4);
NORTH(y5,y6);
SOUTH(y6,y5);
NORTH(y6,y7);
SOUTH(y7,y6);
EAST(x1,x2);
WEST(x2,x1);
EAST(x2,x3);
WEST(x3,x2);
EAST(x3,x4);
WEST(x4,x3);
EAST(x4,x5);
WEST(x5,x4);
EAST(x5,x6);
WEST(x6,x5);
EAST(x6,x7);
WEST(x7,x6);
MIN-XPOS(x1);
MAX-XPOS(x7);
MIN-YPOS(y1);
MAX-YPOS(y7);
GOAL(x7,y7);
INPUT-RATE = 0.3;
};
}
instance crossing_traffic_inst_mdp__10 {
domain = crossing_traffic_mdp;
non-fluents = nf_crossing_traffic_inst_mdp__10;
init-state {
robot-at(x7,y1);
obstacle-at(x1,y2);
obstacle-at(x1,y4);
obstacle-at(x2,y2);
obstacle-at(x2,y3);
obstacle-at(x2,y4);
obstacle-at(x2,y5);
obstacle-at(x2,y6);
obstacle-at(x3,y2);
obstacle-at(x3,y3);
obstacle-at(x3,y5);
obstacle-at(x5,y3);
obstacle-at(x5,y6);
obstacle-at(x6,y4);
obstacle-at(x6,y5);
obstacle-at(x7,y2);
obstacle-at(x7,y5);
};
max-nondef-actions = 1;
horizon = 40;
discount = 1.0;
}