non-fluents nf_crossing_traffic_inst_pomdp__1 {
domain = crossing_traffic_pomdp;
objects {
xpos : {x1, x2, x3};
ypos : {y1, y2, y3};
};
non-fluents {
NORTH(y1, y2);
SOUTH(y2, y1);
NORTH(y2, y3);
SOUTH(y3, y2);
EAST(x1, x2);
WEST(x2, x1);
EAST(x2, x3);
WEST(x3, x2);
MIN-XPOS(x1);
MAX-XPOS(x3);
MIN-YPOS(y1);
MAX-YPOS(y3);
GOAL(x3, y3);
INPUT-RATE = 0.2;
};
}
instance crossing_traffic_inst_pomdp__1 {
domain = crossing_traffic_pomdp;
non-fluents = nf_crossing_traffic_inst_pomdp__1;
init-state {
robot-at(x3, y1);
obstacle-at(x1, y2);
obstacle-at(x2, y2);
obstacle-at(x3, y2);
};
max-nondef-actions = 1;
horizon = 40;
discount = 1.0;
}