59 lines
2.4 KiB
Plaintext
59 lines
2.4 KiB
Plaintext
// Constants definition
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//
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// Automaton definition
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//
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automaton evader
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contr_var: e, p, x, p_zero; // e position of the evader
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// p position of the pursuer
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// x timer
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// p_zero "frozen variable" that stores the
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// initial position of the pursuer
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synclabs: jump;
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loc ClkW:
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while 0 <= e <= 40 & 0 <= p <= 40 & x <= 2 wait
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{e'==5 & -0.5 <= p' <= 6 & x'==1 & p_zero'==0}
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when (p == 0) sync jump do {e'==e & p'==40 & x'==x & p_zero'==p_zero} goto ClkW;
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when (p == 40) sync jump do {e'==e & p'==0 & x'==x & p_zero'==p_zero} goto ClkW;
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when (x >= 2) & (0 < e < 40) & (6*e - 5*p > 40) sync jump do
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{e'==e & p'==p & x'==0 & p_zero'==p_zero} goto ClkW;
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when (x >= 2) & (0 < e < 40) & (6*e - 5*p <= 40) sync jump do
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{e'==e & p'==p & x'==0 & p_zero'==p_zero} goto CntrClkW;
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when (e == 0) sync jump do {e'==e & p'==p & x'==x & p_zero'==p_zero} goto Rescued;
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when (e == 40) sync jump do {e'==e & p'==p & x'==x & p_zero'==p_zero} goto Rescued;
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loc CntrClkW:
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while 0 <= e <= 40 & 0 <= p <= 40 & x <= 2 wait
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{e'==-5 & -0.5 <= p' <= 6 & x'==1 & p_zero'==0}
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when (p == 0) sync jump do {e'==e & p'==40 & x'==x & p_zero'==p_zero} goto CntrClkW;
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when (p == 40) sync jump do {e'==e & p'==0 & x'==x & p_zero'==p_zero} goto CntrClkW;
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when (x >= 2) & (0 < e < 40) & (6*e - 5*p > 40) sync jump do
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{e'==e & p'==p & x'==0 & p_zero'==p_zero} goto ClkW;
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when (x >= 2) & (0 < e < 40) & (6*e - 5*p <= 40) sync jump do
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{e'==e & p'==p & x'==0 & p_zero'==p_zero} goto CntrClkW;
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when (e == 0) sync jump do {e'==e & p'==p & x'==x & p_zero'==p_zero} goto Rescued;
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when (e == 40) sync jump do {e'==e & p'==p & x'==x & p_zero'==p_zero} goto Rescued;
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loc Rescued:
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while true wait {e'==0 & p'==0 & x'==0 & p_zero'==0};
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initially: ClkW & x == 2 & e == 20 & p == p_zero & 0 <= p <= 40;
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end
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// Find winning starting points for pursuer
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//
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// Compute the reachable set
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//
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region=evader.reachable;
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// Intersect with states where pursuer wins
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forbidden = evader.{$ & e == p};
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region.intersection_assign(forbidden);
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// Project on p_zero to get the initial position for the pursuer for which the
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// pursuer can win the game
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region.project_to(p_zero);
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// union over all locations
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pursuer_wins = region.loc_union;
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echo "The pursuer can win the game if it starts from:";
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pursuer_wins.print;
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