def maze_3():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=0
world = rrw.get_random_world(5, 5, num_agent=1, name='maze_3')
# Set Goal
world.goals['A1'] = [('navigate', 'A1', 15)]
# Set Lander Location
world.at[rrw.LANDER] = 15
# Set Rover Location
world.at['A1'] = 12
world.visited['A1'] = set()
world.visited['A1'].add(12)
# Set Traps
world.cost[4] = sys.maxint
world.cost[7] = sys.maxint
world.cost[8] = sys.maxint
world.cost[13] = sys.maxint
world.cost[18] = sys.maxint
world.cost[17] = sys.maxint
world.cost[22] = sys.maxint
return world
def decompose_replan():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=1
world = rrw.get_random_world(5, 6, num_agent=1)
# Set Rover Location
world.at['A1'] = 1
world.visited['A1'] = set()
world.visited['A1'].add(1)
# Set Soil Locations
world.at['S1'] = 14
# Set Lander
world.at[rrw.LANDER] = 28
# Set Lab
world.at[rrw.LAB] = 18
# Set Goal
world.goals['A1'] = [('get_a_soil_data', 'A1', 'S1')]
# Add Uncertainties
world.uncertainties = replan_decompose_1
print_state(world)
return world
def navigate_replan_team_6():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=0
rrw.LANDER='X'
rrw.LAB = 'X'
world = rrw.get_random_world(5, 9, num_agent=2, name='navigate_replan_team_6')
# Set Goal
world.goals['A1'] = [('navigate', 'A1', 27)]
world.goals['A2'] = [('navigate', 'A2', 41)]
# Set Lander
world.at[rrw.LANDER] = 23
world.at[rrw.LAB] = 23
# Set Rover Locations
world.at['A1'] = 19
world.visited['A1'] = set()
world.visited['A1'].add(19)
world.at['A2'] = 5
world.visited['A2'] = set()
world.visited['A2'].add(5)
traps = [23]
for t in traps:
world.cost[t] = sys.maxint
world.uncertainties = replan_6_rand
world.ID = "navigate_replan_team_6"
return world
def navigate_replan_team_7():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=0
rrw.LANDER=''
rrw.LAB = ''
world = rrw.get_random_world(5, 9, num_agent=2, name='navigate_replan_team_7')
# Set Goal
world.goals['A1'] = [('navigate', 'A1', 45)]
world.goals['A2'] = [('navigate', 'A2', 5)]
# Set Lander
world.at[rrw.LANDER] = 1
world.at[rrw.LAB] = 1
# Set Rover Locations
world.at['A1'] = 37
world.visited['A1'] = set()
world.visited['A1'].add(37)
world.at['A2'] = 41
world.visited['A2'] = set()
world.visited['A2'].add(41)
world.cost[41] = 10
world.uncertainties = replan_7_rand
world.ID = "navigate_replan_team_7"
return world
def navigate_replan_team_4p():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=0
rrw.LANDER='X'
rrw.LAB = 'X'
world = rrw.get_random_world(7, 7, num_agent=2, name='navigate_replan_team_4p')
# Set Goal
world.goals['A1'] = [('navigate', 'A1', 43)]
world.goals['A2'] = [('navigate', 'A2', 49)]
# Set Soil Location
world.at['S1'] = 43
world.at['S2'] = 49
# Set Lander
world.at[rrw.LANDER] = 15
world.at[rrw.LAB] = 22
# Set Rover Locations
world.at['A1'] = 32
world.visited['A1'] = set()
world.visited['A1'].add(32)
world.at['A2'] = 31
world.visited['A2'] = set()
world.visited['A2'].add(31)
traps = [2, 4, 6, 38, 39, 15, 16, 19, 20, 22, 23, 26, 27, 29, 30, 33, 34, 36, 37, 40, 41]
for t in traps:
world.cost[t] = sys.maxint
world.ID = "navigate_replan_team_4p"
return world
def navigate_replan_team_5():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=0
rrw.LANDER='X'
rrw.LAB = 'X'
world = rrw.get_random_world(7, 7, num_agent=2, name='navigate_replan_team_5')
# Set Goal
world.goals['A1'] = [('navigate', 'A1', 43)]
world.goals['A2'] = [('navigate', 'A2', 49)]
# Set Soil Location
world.at['S1'] = 43
world.at['S2'] = 49
# Set Lander
world.at[rrw.LANDER] = 15
world.at[rrw.LAB] = 22
# Set Rover Locations
world.at['A1'] = 1
world.visited['A1'] = set()
world.visited['A1'].add(1)
world.at['A2'] = 31
world.visited['A2'] = set()
world.visited['A2'].add(31)
traps = [15, 16, 19, 18, 22, 23, 26, 25, 29, 30, 33, 32, 36, 37, 40, 39]
for t in traps:
world.cost[t] = sys.maxint
world.uncertainties = replan_5_rand
world.ID = "navigate_replan_team_5"
return world
def navigate_replan_team_3():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=0
rrw.LANDER='X'
rrw.LAB = 'X'
world = rrw.get_random_world(6, 6, num_agent=2, name='navigate_replan_team_3')
# Set Goal
world.goals['A1'] = [('navigate', 'A1', 31)]
world.goals['A2'] = [('navigate', 'A2', 36)]
# Set Soil Location
world.at['S1'] = 31
world.at['S2'] = 36
# Set Lander
world.at[rrw.LANDER] = 13
world.at[rrw.LAB] = 19
# Set Rover Locations
world.at['A1'] = 1
world.visited['A1'] = set()
world.visited['A1'].add(1)
world.at['A2'] = 21
world.visited['A2'] = set()
world.visited['A2'].add(21)
traps = [7, 8, 10, 11, 13, 14, 16, 17, 19, 20, 22, 23, 25, 26, 27, 28, 29]
for t in traps:
world.cost[t] = sys.maxint
world.uncertainties = replan_3_rand
world.ID = "navigate_replan_team_3"
return world
def maze_5():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=0
world = rrw.get_random_world(num_agent=1, name='maze_5')
# Set Lander Location
world.at[rrw.LANDER] = 51
# Set Rover Location
world.at['A1'] = 67
world.visited['A1'] = set()
world.visited['A1'].add(67)
# Set Goal
world.goals['A1'] = [('navigate', 'A1', 51)]
# Set Traps
world.cost[49] = sys.maxint
world.cost[57] = sys.maxint
world.cost[58] = sys.maxint
world.cost[59] = sys.maxint
world.cost[66] = sys.maxint
world.cost[68] = sys.maxint
world.cost[75] = sys.maxint
world.cost[85] = sys.maxint
world.cost[86] = sys.maxint
world.cost[53] = sys.maxint
return world
def maze_4():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=0
world = rrw.get_random_world(num_agent=1, name='maze_4')
# Set Lander Location
world.at[rrw.LANDER] = 78
# Set Rover Location
world.at['A1'] = 23
world.visited['A1'] = set()
world.visited['A1'].add(23)
# Set Goal
world.goals['A1'] = [('navigate', 'A1', 78)]
# Set Traps
world.cost[43] = sys.maxint
world.cost[34] = sys.maxint
world.cost[25] = sys.maxint
world.cost[37] = sys.maxint
world.cost[47] = sys.maxint
world.cost[57] = sys.maxint
world.cost[67] = sys.maxint
world.cost[77] = sys.maxint
world.cost[87] = sys.maxint
world.cost[97] = sys.maxint
return world
def maze_0():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=0
world = rrw.get_random_world(3, 3, num_agent=1, name='maze_0')
# Set Goal
world.goals['A1'] = [('navigate', 'A1', 2)]
# Set Lander Location
world.at[rrw.LANDER] = 9
# Set Rover Location
world.at['A1'] = 9
world.visited['A1'] = set()
world.visited['A1'].add(9)
return world
def dummy_world():
rrw.NUM_ROCKS=4
rrw.NUM_SOILS=4
world = rrw.get_random_world(10, 10, num_agent=1)
# Set Rover Locaitons
world.at['A1'] = 85
world.visited['A1'] = set()
world.visited['A1'].add(85)
world.at['A2'] = 85
world.visited['A2'] = set()
world.visited['A2'].add(85)
# Set Soil Locations
world.at['S1'] = 12
world.at['S2'] = 34
world.at['S3'] = 19
world.at['S4'] = 37
world.at['R1'] = 14
world.at['R2'] = 32
world.at['R3'] = 17
world.at['R4'] = 39
# Set Lander
world.at[rrw.LANDER] = 62
# Set Lab
world.at[rrw.LAB] = 69
# Set Goal
world.goals['A1'] = [('get_soil_data', 'A1')]
world.goals['A2'] = [('get_rock_data', 'A1')]
# Set Traps
world.cost[41] = sys.maxint
world.cost[42] = sys.maxint
world.cost[43] = sys.maxint
world.cost[44] = sys.maxint
world.cost[47] = sys.maxint
world.cost[48] = sys.maxint
world.cost[49] = sys.maxint
world.cost[50] = sys.maxint
return world
def navigate_replan():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=0
world = rrw.get_random_world(5, 5, num_agent=1, name='navigate_replan')
# Set Goal
world.goals['A1'] = [('navigate', 'A1', 15)]
# Set Lander Location
world.at[rrw.LANDER] = 15
# Set Rover Location
world.at['A1'] = 11
world.visited['A1'] = set()
world.visited['A1'].add(11)
# Add uncertainties
world.uncertainties = replan_1_rand
return world
def test_exp_cost():
rrw.NUM_ROCKS=0
rrw.NUM_SOILS=0
rrw.LANDER='X'
rrw.LAB = 'X'
world = rrw.get_random_world(3, 3, num_agent=2, name='test_exp_cost')
# Set Goal
world.goals['A1'] = [('navigate', 'A1', 2)]
world.goals['A2'] = [('navigate', 'A2', 1)]
# Set Rover Locations
world.at['A1'] = 9
world.visited['A1'] = set()
world.visited['A1'].add(9)
world.at['A2'] = 5
world.visited['A2'] = set()
world.visited['A2'].add(5)
world.uncertainties = test_exp_cost_rand
return world
def random(num_agent=2): return rrw.get_random_world(num_agent=num_agent, a_star=True)
def reconstruct_path(came_from, current):
to_return = [current]
while current in came_from:
current = came_from[current]
to_return.append(current)
to_return.reverse()
return to_return
def dist_between(current, neighbor):
return 1
VERBOSE = True
if __name__ == "__main__":
print("Testing a_star")
world = random_rovers_world.get_random_world(10, 10)
world.rand = False
print("Random world: ")
random_rovers_world.print_board(world)
# pyhop.print_state(world)
sink = random.choice(world.loc.keys())
print("*** Navigating from {} to {} ***".format(world.at["A1"], sink))
path = a_star(world, "A1", sink)
print(path)
for action in path:
print("{}\t{}".format(action, world.cost_func(world, action)))
