diff --git a/.classpath b/.classpath
index 06fd0b5d77..da69d8471d 100644
--- a/.classpath
+++ b/.classpath
@@ -15,5 +15,6 @@
+
diff --git a/ac-imdp.prism b/ac-imdp.prism
new file mode 100644
index 0000000000..feaefc06ea
--- /dev/null
+++ b/ac-imdp.prism
@@ -0,0 +1,54 @@
+mdp
+
+
+const int maxX = 8;//10;
+const int maxY = 5;//4;
+const double r=0.8; //= 0.820795462532;// = 0.5; // pilot response factor
+const double e1 = 0.1;
+const double p=0.3;// = 0.19; // prob of adversary moving up or down, ensure 2p <= 1
+const double e2=0.01;
+
+
+formula xclose = (x-ax >= 0 & x-ax < 3) | (ax-x >= 0 & ax-x < 3);
+formula yclose = (y-ay >= 0 & y-ay < 2) | (ay-y >= 0 & ay-y < 2);
+formula collision = xclose & yclose;
+
+module aircraft
+
+ x : [0..maxX] init 0;
+ y : [0..maxY] init 1;
+
+
+ [down] x < maxX -> [r-e1,r+e1] : (y'=max(y-1,0)) & (x'=x+1) + [1-r-e1,1-r+e1] : (y'=y) & (x'=x+1);
+ [up] x < maxX -> [r-e1,r+e1] : (y'=min(y+1,maxY)) & (x'=x+1) + [1-r-e1,1-r+e1] : (y'=y) & (x'=x+1);
+ [stay] x < maxX -> (y'=y) & (x'=x+1);
+
+ [down] x = maxX -> true;
+ [up] x = maxX -> true;
+ [stay] x = maxX -> true;
+
+endmodule
+
+
+module adversary
+
+ ax : [0..maxX] init maxX;
+ ay : [0..maxY] init 1;
+
+ [up] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1) + 1-2*p : (ay'=ay) & (ax'=ax-1);
+ [down] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1) + 1-2*p : (ay'=ay) & (ax'=ax-1);
+ [stay] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1) + 1-2*p : (ay'=ay) & (ax'=ax-1);
+ [up] ax = 0 -> true;
+ [down] ax = 0 -> true;
+ [stay] ax = 0 -> true;
+
+endmodule
+
+rewards
+ [up] true : 1;
+ [down] true : 1;
+ [stay] true : 1;
+endrewards
+
+label "goal" = x=maxX;
+label "Crash" = collision;
\ No newline at end of file
diff --git a/ad-6x5.prism b/ad-6x5.prism
new file mode 100644
index 0000000000..354ad11453
--- /dev/null
+++ b/ad-6x5.prism
@@ -0,0 +1,51 @@
+mdp
+
+// Model parameters
+const double p = 0.1; // Mean disturbance probability
+const double e = 0.05; // Epistemic uncertainty
+formula a = x * e; // Epistemic uncertainty grows with x-coordinate
+
+const int M = 5; // Environment width
+const int N = 6; // Environment height
+
+const double eps = 0.0001; // Lower bound for probability ranges
+
+// Goal
+formula goal = x = 1 & y = N;
+
+// Obstacles
+formula crashed = (x = 2 & y = 3) | (x = 3 & y = 3) | (x = 3 & y = 4);
+
+// UAV behaviour
+module env
+
+ x : [1..M] init 1;
+ y : [1..N] init 1;
+
+ [up] !crashed & y < N -> [max(eps,1-3*(p+a)), min(1-3*(p-a),1)] : (y'=min(y+1,N)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (y'=min(y+1,N)) & (x'=max(x-1,1)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (y'=min(y+1,N)) & (x'=min(x+1,M))
+ + [max(eps,p-a), min(p+a,1)] : true;
+
+ [right] !crashed & x < M -> [max(eps,1-3*(p+a)), min(1-3*(p-a),1)] : (x'=min(x+1,M)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (x'=min(x+1,M)) & (y'=min(y+1,N)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (x'=max(x-1,1))
+ + [max(eps,p-a), min(p+a,1)] : true;
+
+ [left] !crashed & x > 1 -> [max(eps,1-3*(p+a)), min(1-3*(p-a),1)] : (x'=max(x-1,1)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (x'=max(x-1,1)) & (y'=min(y+1,N)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (x'=min(x+1,M))
+ + [max(eps,p-a), min(p+a,1)] : true;
+
+endmodule
+
+// Your handcrafted policy
+module policy
+ [up] x < 3 -> true;
+ [left] x >= 3 -> true;
+ [right] false -> true;
+endmodule
+
+// Labelling
+label "Crash" = crashed;
+label "goal" = goal;
\ No newline at end of file
diff --git a/bg-imdp.prism b/bg-imdp.prism
new file mode 100644
index 0000000000..d79af7db0e
--- /dev/null
+++ b/bg-imdp.prism
@@ -0,0 +1,28 @@
+mdp
+
+
+const int n = 8;
+const double p=0.5;
+const double e=0.1;
+module bet
+
+ money : [0..(n+1)*10] init 10;
+ steps : [0..n+1] init 0; // +1 for terminal state
+
+ [bet0] steps < n & money >= 0 -> 1 : (money'=money) & (steps'=steps+1);
+ [bet1] steps < n & money >= 1 & money <= n*10 -> [p-e,p+e] : (money'=money+1) & (steps'=steps+1) + [1-p-e,1-p+e] : (money'=money-1) & (steps'=steps+1);
+ [bet2] steps < n & money >= 2 & money <= n*10 -> [p-e,p+e] : (money'=money+2) & (steps'=steps+1) + [1-p-e,1-p+e] : (money'=money-2) & (steps'=steps+1);
+ [bet5] steps < n & money >= 5 & money <= n*10 -> [p-e,p+e] : (money'=money+5) & (steps'=steps+1) + [1-p-e,1-p+e] : (money'=money-5) & (steps'=steps+1);
+ [bet10] steps < n & money >=10 & money <= n*10 -> [p-e,p+e] : (money'=money+10) & (steps'=steps+1) + [1-p-e,1-p+e] : (money'=money-10) & (steps'=steps+1);
+
+ [end] steps = n -> 1: (steps'=n+1);
+ [stop] steps = n+1 -> 1: true;
+
+endmodule
+
+rewards
+ [] steps < n : money;
+ [end] true : money;
+endrewards
+
+label "goal" = steps = n+1;
\ No newline at end of file
diff --git a/chain-imdp-reverse.prism b/chain-imdp-reverse.prism
new file mode 100644
index 0000000000..6a92122993
--- /dev/null
+++ b/chain-imdp-reverse.prism
@@ -0,0 +1,23 @@
+mdp
+
+const double p=0.4;
+const double uncertainty=0.05;
+const int H = 6;
+const double m=200.0;
+
+module chain
+
+ s : [0..H] init 0;
+
+ [a] true -> [p-uncertainty, p+uncertainty]: (s'=min(s+1,H)) + [1-p-uncertainty,1-p+uncertainty]: (s'=0);
+ [b] true -> [1-p-uncertainty, 1-p+uncertainty] : (s'=min(s+1,H)) + [p-uncertainty, p+uncertainty] : (s'=0);
+ [end] (s=H) -> true;
+
+endmodule
+
+rewards
+ [a] true : 1;
+ [b] true : 1;
+endrewards
+
+label "goal" = s=H;
\ No newline at end of file
diff --git a/chain-imdp.prism b/chain-imdp.prism
new file mode 100644
index 0000000000..1e1ac5a978
--- /dev/null
+++ b/chain-imdp.prism
@@ -0,0 +1,22 @@
+mdp
+
+const double p=0.4;
+const double uncertainty=0.05;
+const int H = 6;
+
+module chain
+
+ s : [0..H] init 0;
+
+ [a] true -> [p-uncertainty, p+uncertainty]: (s'=min(s+1,H)) + [1-p-uncertainty,1-p+uncertainty]: (s'=0);
+ [b] true -> [1-p-uncertainty, 1-p+uncertainty] : (s'=min(s+1,H)) + [p-uncertainty, p+uncertainty] : (s'=0);
+ [end] (s=H) -> true;
+
+endmodule
+
+rewards
+ [a] true : 1;
+ [b] true : 1;
+endrewards
+
+label "goal" = s=H;
\ No newline at end of file
diff --git a/drone-imdp.prism b/drone-imdp.prism
new file mode 100644
index 0000000000..d91232dcf1
--- /dev/null
+++ b/drone-imdp.prism
@@ -0,0 +1,66 @@
+mdp
+
+// Environment Dimensions
+const int MAXX = 8;
+const int MAXY = 8;
+const int MAXZ = 8;
+
+// Disturbance Probability Parameter
+const double p=0.2; // must be less than 1/3
+const double e=0.05;
+
+// Regions
+
+// Target Region
+formula target = x > MAXX - 2 & y < 2 & z > MAXZ - 2;
+
+// Obstacle Regions
+formula crash = obstacle1 | obstacle2 | obstacle3 | obstacle4;
+formula obstacle1 = x >= 3 & x <= 4 & z >= 1 & z <= 2;
+formula obstacle2 = x >= 3 & x <= 4 & y >= 1 & y <= 2;
+formula obstacle3 = x >= 3 & x <= 4 & y >= 3 & y <= 5;
+formula obstacle4 = x >= 3 & x <= 4 & z >= 7 & z <= 8;
+
+module drone
+ x : [1..MAXX] init 1;
+ y : [1..MAXY] init 1;
+ z : [1..MAXZ] init 1;
+
+ [front] true -> [1 - 3 * p-e,1 - 3 * p+e]: (x' = min(x + 1, MAXX))
+ + [p-e,p+e] : (x' = min(x + 1, MAXX)) & (y' = max(y - 1,1))
+ + [p-e,p+e] : (x' = min(x + 1, MAXX)) & (y' = min(y + 1, MAXY))
+ + [p-e,p+e] : (x' = x) & (y' = max(y - 2, 1));
+
+ [back] true ->[1 - 3 * p-e,1 - 3 * p+e]: (x' = max(x - 1, 1))
+ + [p-e,p+e] : (x' = max(x - 1, 1)) & (y' = max(y - 1,1))
+ + [p-e,p+e] : (x' = max(x - 1, 1)) & (y' = min(y + 1, MAXY))
+ + [p-e,p+e] : (x' = x) & (y' = max(y - 2, 1));
+
+ [right] true -> [1 - 2 * p-e,1-2*p+e]: (y' = min(y + 1, MAXY))
+ + [p-e,p+e]: (y' = min(y + 2, MAXY))
+ + [p-e,p+e]: (y' = max(y - 1, 1));
+
+ [left] true -> [1 - 2 * p-e,1-2*p+e]: (y' = max(y - 1, 1))
+ + [p-e,p+e]: (y' = max(y - 2, 1))
+ + [p-e,p+e]: (y' = min(y + 1, MAXY));
+
+ [up] true -> [1 - 3 * p-e,1 - 3 * p+e]: (z' = min(z + 1, MAXZ))
+ + [p-e,p+e] : (z' = min(z + 1, MAXZ)) & (y' = max(y - 1,1))
+ + [p-e,p+e] : (z' = min(z + 1, MAXZ)) & (y' = min(y + 1, MAXY))
+ + [p-e,p+e] : (z' = z) & (y' = max(y - 2, 1));
+
+ [down] true ->[1 - 3 * p-e,1 - 3 * p+e]: (z' = max(z - 1,1))
+ + [p-e,p+e] : (z' = max(z - 1,1)) & (y' = max(y - 1,1))
+ + [p-e,p+e] : (z' = max(z - 1,1)) & (y' = min(y + 1, MAXY))
+ + [p-e,p+e] : (z' = z) & (y' = max(y - 2, 1));
+ [done] target -> 1:true;
+ [cry] crash -> 1:true;
+
+endmodule
+
+rewards
+ [] true : 1;
+endrewards
+
+label "goal" = target;
+label "Crash" = crash;
\ No newline at end of file
diff --git a/ds-imdp.prism b/ds-imdp.prism
new file mode 100644
index 0000000000..325928326e
--- /dev/null
+++ b/ds-imdp.prism
@@ -0,0 +1,74 @@
+mdp
+
+const int M = 15;
+const int N = 15;
+const double p=0.4; // with probability p robot moves to an adjacent location instead of desired
+const double e = 0.02;
+const int MAX_STEPS=16; // time cut off
+const int TERM_COST = 500;
+const int STEP_COST= 5; // cost for every time step
+
+formula treasure = (c=1 & r=4)|(c=2 & r=6)|(c=3 & r=6)| (c=4 & r=7)|(c=5 & r=8)|(c=6 & r=8)|(c=7 & r=9)|(c=8 & r=10)|(c=9 & r=10)|(c=10 & r=11)|(c=11 & r=12)|(c=12 & r=12)|(c=13 & r=13)|(c=14 & r=14)|(c=15 & r=14);
+formula wall = (c=1 & r>4) | ((c=2 | c=3) & r>6) | (c=4 & r>7) | ((c=5 | c=6) & r>8) | (c=7 & r>9) | ((c=8 | c=9) & r>10)| (c=10 & r>11) | ((c=11 | c=12) & r>12)| (c=13 & r>13) | ((c=14 | c=15) & r>14);
+
+// action guards i.e. if south wall is true -> south action should not be allowed
+formula west_wall = (c=2 & r=5);
+formula south_west_wall = (c=2 & (r=4 | r=5)) | (c=4 & r=6) | (c=5 & r=7) | (c=7 & r=8) | (c=8 & r=9)| (c=10 & r=10) | (c=11 & r=11)| (c=13 & r=12) | (c=14 & r=13);
+
+module robot
+ //define robot position
+ r:[1..N] init 1; //grid row
+ c:[1..M] init 1; //grid column
+ t:[1..MAX_STEPS+1] init 1; // time step
+
+ // transitions
+ [end] treasure -> (t'=MAX_STEPS+1);
+ [end] (t=MAX_STEPS) & !treasure -> (t'=t+1);
+ [east] (c [p/2-e,p/2+e]:(r'=min(r+1, N))&(c'=min(c+1, M))&(t'=min(t+1, MAX_STEPS))+ [p/2-e,p/2+e]: (r'=max(r-1, 1))&(c'=min(c+1, M))&(t'=min(t+1, MAX_STEPS)) + [1-p-e,1-p+e]: (c'=min(c+1, M))&(t'=min(t+1, MAX_STEPS));
+ [south] (r [1-p-e,1-p+e]:(r'=min(r+1, N))&(t'=min(t+1, MAX_STEPS)) + [p/2-e,p/2+e]: (c'=min(c+1, M))&(r'=min(r+1, N))&(t'=min(t+1, MAX_STEPS))+ [p/2-e,p/2+e]: (c'=max(c-1, 1))&(r'=min(r+1, N))&(t'=min(t+1, MAX_STEPS));
+ [west] (c>1 | c=1) & !west_wall & !south_west_wall & (t [p/2-e,p/2+e]:(r'=max(r-1, 1))&(c'=max(c-1, 1))&(t'=min(t+1, MAX_STEPS))+ [p/2-e,p/2+e]:(r'=min(r+1, N))&(c'=max(c-1, 1))&(t'=min(t+1, MAX_STEPS)) + [1-p-e,1-p+e]: (c'=max(c-1, 1))&(t'=min(t+1, MAX_STEPS));
+ [north] (r=1 | r>1) & (t [1-p-e,1-p+e]:(r'=max(r-1, 1))&(t'=min(t+1, MAX_STEPS)) + [p/2-e,p/2+e]: (c'=max(c-1, 1))&(r'=max(r-1, 1))&(t'=min(t+1, MAX_STEPS)) + [p/2-e,p/2+e]: (c'=min(c+1, M))&(r'=max(r-1, 1))&(t'=min(t+1, MAX_STEPS)) ;
+
+ [south] (r [1-p-e,1-p+e]:(r'=min(r+1, N))&(t'=min(t+1, MAX_STEPS)) + [p-e,p+e]: (c'=min(c+1, M))&(r'=min(r+1, N))&(t'=min(t+1, MAX_STEPS));
+ [west] (c>1 | c=1) & !west_wall & south_west_wall & (t [p-e,p+e]:(r'=max(r-1, 1))&(c'=max(c-1, 1))&(t'=min(t+1, MAX_STEPS)) + [1-p-e,1-p+e]: (c'=max(c-1, 1))&(t'=min(t+1, MAX_STEPS));
+
+ // diagonal transitions
+ [north_east] (c1) & (t p/2:(c'=min(c+1, M))&(t'=min(t+1, MAX_STEPS))+ p/2: (r'=max(r-1, 1))&(t'=min(t+1, MAX_STEPS)) + (1-p): (c'=min(c+1, M))&(r'=max(r-1, 1))&(t'=min(t+1, MAX_STEPS));
+ [north_west] (c>1 | c=1) & (r=1 | r>1) & !west_wall & (t (1-p):(r'=max(r-1, 1))&(c'=max(c-1, 1))&(t'=min(t+1, MAX_STEPS)) + p/2: (r'=max(r-1, 1))&(t'=min(t+1, MAX_STEPS))+ p/2: (c'=max(c-1, 1))&(t'=min(t+1, MAX_STEPS));
+ [south_east] (c p/2:(c'=min(c+1, M))&(t'=min(t+1, MAX_STEPS))+ p/2:(r'=min(r+1, N))&(t'=min(t+1, MAX_STEPS)) + (1-p): (r'=min(r+1, N))&(c'=min(c+1, M))&(t'=min(t+1, MAX_STEPS));
+ [south_west] (c>1 | c=1) & (r (1-p):(r'=min(r+1, N))&(c'=max(c-1, 1))&(t'=min(t+1, MAX_STEPS)) + p/2: (c'=max(c-1, 1))&(t'=min(t+1, MAX_STEPS)) + p/2: (r'=min(r+1, N))&(t'=min(t+1, MAX_STEPS)) ;
+
+ [north_west] (c>1 | c=1) & (r=1 | r>1) & west_wall & (t (1-p):(r'=max(r-1, 1))&(c'=max(c-1, 1))&(t'=min(t+1, MAX_STEPS)) + p: (r'=max(r-1, 1))&(t'=min(t+1, MAX_STEPS));
+ [south_west] (c>1 | c=1) & (r (1-p):(r'=min(r+1, N))&(c'=max(c-1, 1))&(t'=min(t+1, MAX_STEPS)) + p: (r'=min(r+1, N))&(t'=min(t+1, MAX_STEPS)) ;
+
+endmodule
+
+label "goal" = (t=MAX_STEPS+1);
+label "obs" = (wall);
+
+rewards
+ [east] (t= 0
+ uPlusLow-0-0-1: uplus[0-0->1] >= 0
+ uMinLow-0-0-1: umin[0-0->1] >= 0
+ uPlusHigh-0-0-1: - 1.01 eta-0-0 + uplus[0-0->1] <= 0
+ uMinHigh-0-0-1: - 1.01 eta-0-0 + umin[0-0->1] <= 0
+ dualFeas_0-0_1: - mu[1] + lam-0-0 - uplus[0-0->1] + umin[0-0->1] <= 0
+ uPlusLow-0-0-2: uplus[0-0->2] >= 0
+ uMinLow-0-0-2: umin[0-0->2] >= 0
+ uPlusHigh-0-0-2: - 1.01 eta-0-0 + uplus[0-0->2] <= 0
+ uMinHigh-0-0-2: - 1.01 eta-0-0 + umin[0-0->2] <= 0
+ dualFeas_0-0_2: - mu[2] + lam-0-0 - uplus[0-0->2] + umin[0-0->2] <= 0
+ lamU[0-1]: - 1.01 eta-0-1 + lam-0-1 <= 0
+ lamD[0-1]: 1.01 eta-0-1 + lam-0-1 >= 0
+ uPlusLow-0-1-2: uplus[0-1->2] >= 0
+ uMinLow-0-1-2: umin[0-1->2] >= 0
+ uPlusHigh-0-1-2: - 1.01 eta-0-1 + uplus[0-1->2] <= 0
+ uMinHigh-0-1-2: - 1.01 eta-0-1 + umin[0-1->2] <= 0
+ dualFeas_0-1_2: - mu[2] + lam-0-1 - uplus[0-1->2] + umin[0-1->2] <= 0
+ uPlusLow-0-1-3: uplus[0-1->3] >= 0
+ uMinLow-0-1-3: umin[0-1->3] >= 0
+ uPlusHigh-0-1-3: - 1.01 eta-0-1 + uplus[0-1->3] <= 0
+ uMinHigh-0-1-3: - 1.01 eta-0-1 + umin[0-1->3] <= 0
+ dualFeas_0-1_3: - mu[3] + lam-0-1 - uplus[0-1->3] + umin[0-1->3] <= 0
+ lamU[1-0]: - 1.01 eta-1-0 + lam-1-0 <= 0
+ lamD[1-0]: 1.01 eta-1-0 + lam-1-0 >= 0
+ uPlusLow-1-0-2: uplus[1-0->2] >= 0
+ uMinLow-1-0-2: umin[1-0->2] >= 0
+ uPlusHigh-1-0-2: - 1.01 eta-1-0 + uplus[1-0->2] <= 0
+ uMinHigh-1-0-2: - 1.01 eta-1-0 + umin[1-0->2] <= 0
+ dualFeas_1-0_2: - mu[2] + lam-1-0 - uplus[1-0->2] + umin[1-0->2] <= 0
+ uPlusLow-1-0-3: uplus[1-0->3] >= 0
+ uMinLow-1-0-3: umin[1-0->3] >= 0
+ uPlusHigh-1-0-3: - 1.01 eta-1-0 + uplus[1-0->3] <= 0
+ uMinHigh-1-0-3: - 1.01 eta-1-0 + umin[1-0->3] <= 0
+ dualFeas_1-0_3: - mu[3] + lam-1-0 - uplus[1-0->3] + umin[1-0->3] <= 0
+ lamU[2-0]: - 1.01 eta-2-0 + lam-2-0 <= 0
+ lamD[2-0]: 1.01 eta-2-0 + lam-2-0 >= 0
+ uPlusLow-2-0-2: uplus[2-0->2] >= 0
+ uMinLow-2-0-2: umin[2-0->2] >= 0
+ uPlusHigh-2-0-2: - 1.01 eta-2-0 + uplus[2-0->2] <= 0
+ uMinHigh-2-0-2: - 1.01 eta-2-0 + umin[2-0->2] <= 0
+ dualFeas_2-0_2: - mu[2] + lam-2-0 - uplus[2-0->2] + umin[2-0->2] <= 0
+ lamU[3-0]: - 1.01 eta-3-0 + lam-3-0 <= 0
+ lamD[3-0]: 1.01 eta-3-0 + lam-3-0 >= 0
+ uPlusLow-3-0-3: uplus[3-0->3] >= 0
+ uMinLow-3-0-3: umin[3-0->3] >= 0
+ uPlusHigh-3-0-3: - 1.01 eta-3-0 + uplus[3-0->3] <= 0
+ uMinHigh-3-0-3: - 1.01 eta-3-0 + umin[3-0->3] <= 0
+ dualFeas_3-0_3: - mu[3] + lam-3-0 - uplus[3-0->3] + umin[3-0->3] <= 0
+ actSel-0: eta-0-0 + eta-0-1 >= 1
+ actSel-1: eta-1-0 >= 1
+ actSel-2: eta-2-0 >= 1
+ actSel-3: eta-3-0 >= 1
+ mc1-0-0: eta-0-0 + phi-0-0 >= 0
+ mc2-0-0: - eta-0-0 + phi-0-0 <= 0
+ mc3-0-0: - eta-0-0 - lam-0-0 + phi-0-0 >= -1
+ mc4-0-0: eta-0-0 - lam-0-0 + phi-0-0 <= 1
+ mc1-0-1: eta-0-1 + phi-0-1 >= 0
+ mc2-0-1: - eta-0-1 + phi-0-1 <= 0
+ mc3-0-1: - eta-0-1 - lam-0-1 + phi-0-1 >= -1
+ mc4-0-1: eta-0-1 - lam-0-1 + phi-0-1 <= 1
+ mc1-1-0: eta-1-0 + phi-1-0 >= 0
+ mc2-1-0: - eta-1-0 + phi-1-0 <= 0
+ mc3-1-0: - eta-1-0 - lam-1-0 + phi-1-0 >= -1
+ mc4-1-0: eta-1-0 - lam-1-0 + phi-1-0 <= 1
+ mc1-2-0: eta-2-0 + phi-2-0 >= 0
+ mc2-2-0: - eta-2-0 + phi-2-0 <= 0
+ mc3-2-0: - eta-2-0 - lam-2-0 + phi-2-0 >= -1
+ mc4-2-0: eta-2-0 - lam-2-0 + phi-2-0 <= 1
+ mc1-3-0: eta-3-0 + phi-3-0 >= 0
+ mc2-3-0: - eta-3-0 + phi-3-0 <= 0
+ mc3-3-0: - eta-3-0 - lam-3-0 + phi-3-0 >= -1
+ mc4-3-0: eta-3-0 - lam-3-0 + phi-3-0 <= 1
+ bell-0-0: mu[0] + 1.01 eta-0-0 + 0.95 uplus[0-0->1] - 0.85 umin[0-0->1]
+ + 0.15 uplus[0-0->2] - 0.05 umin[0-0->2] - phi-0-0 <= 1.01
+ bell-0-1: mu[0] + 1.01 eta-0-1 + 0.27 uplus[0-1->2] - 0.17 umin[0-1->2]
+ + 0.83 uplus[0-1->3] - 0.73 umin[0-1->3] - phi-0-1 <= 1.01
+ bell-1-0: mu[1] + 1.01 eta-1-0 + 0.15 uplus[1-0->2] - 0.05 umin[1-0->2]
+ + 0.95 uplus[1-0->3] - 0.85 umin[1-0->3] - phi-1-0 <= 1.01
+ bell-2-0: mu[2] + 1.01 eta-2-0 + uplus[2-0->2] - umin[2-0->2] - phi-2-0
+ <= 1.01
+ bell-3-0: mu[3] + 1.01 eta-3-0 + uplus[3-0->3] - umin[3-0->3] - phi-3-0
+ <= 1.01
+ multi-bound: mu[0] >= 0.65
+Bounds
+ mu[0] <= 1
+ mu[1] <= 1
+ mu[2] <= 1
+ mu[3] <= 1
+ -1 <= lam-0-0 <= 1
+ uplus[0-0->1] <= 1.01
+ umin[0-0->1] <= 1.01
+ uplus[0-0->2] <= 1.01
+ umin[0-0->2] <= 1.01
+ -1 <= lam-0-1 <= 1
+ uplus[0-1->2] <= 1.01
+ umin[0-1->2] <= 1.01
+ uplus[0-1->3] <= 1.01
+ umin[0-1->3] <= 1.01
+ -1 <= lam-1-0 <= 1
+ uplus[1-0->2] <= 1.01
+ umin[1-0->2] <= 1.01
+ uplus[1-0->3] <= 1.01
+ umin[1-0->3] <= 1.01
+ -1 <= lam-2-0 <= 1
+ uplus[2-0->2] <= 1.01
+ umin[2-0->2] <= 1.01
+ -1 <= lam-3-0 <= 1
+ uplus[3-0->3] <= 1.01
+ umin[3-0->3] <= 1.01
+ -1 <= phi-0-0 <= 1
+ -1 <= phi-0-1 <= 1
+ -1 <= phi-1-0 <= 1
+ -1 <= phi-2-0 <= 1
+ -1 <= phi-3-0 <= 1
+ Constant = 1
+Binaries
+ eta-0-0 eta-0-1 eta-1-0 eta-2-0 eta-3-0
+End
diff --git a/dual_e005_strat.txt b/dual_e005_strat.txt
new file mode 100644
index 0000000000..ed12f595a2
--- /dev/null
+++ b/dual_e005_strat.txt
@@ -0,0 +1,4 @@
+0: m f
+1: m
+2: trapped
+3: done
\ No newline at end of file
diff --git a/dual_e01.lp b/dual_e01.lp
new file mode 100644
index 0000000000..7c87c7ecad
--- /dev/null
+++ b/dual_e01.lp
@@ -0,0 +1,127 @@
+\ LP format - for model browsing. Use MPS format to capture full model detail.
+\ Signature: 0xf334aa5b69baf57d
+Minimize
+ - eta-0-0 - eta-0-1 - eta-1-0 - eta-2-0 - eta-3-0 + 5 Constant
+Subject To
+ v-target: mu[3] = 1
+ v-no: mu[2] = 0
+ lamU[0-0]: - 1.01 eta-0-0 + lam-0-0 <= 0
+ lamD[0-0]: 1.01 eta-0-0 + lam-0-0 >= 0
+ uPlusLow-0-0-1: uplus[0-0->1] >= 0
+ uMinLow-0-0-1: umin[0-0->1] >= 0
+ uPlusHigh-0-0-1: - 1.01 eta-0-0 + uplus[0-0->1] <= 0
+ uMinHigh-0-0-1: - 1.01 eta-0-0 + umin[0-0->1] <= 0
+ dualFeas_0-0_1: - mu[1] + lam-0-0 - uplus[0-0->1] + umin[0-0->1] <= 0
+ uPlusLow-0-0-2: uplus[0-0->2] >= 0
+ uMinLow-0-0-2: umin[0-0->2] >= 0
+ uPlusHigh-0-0-2: - 1.01 eta-0-0 + uplus[0-0->2] <= 0
+ uMinHigh-0-0-2: - 1.01 eta-0-0 + umin[0-0->2] <= 0
+ dualFeas_0-0_2: - mu[2] + lam-0-0 - uplus[0-0->2] + umin[0-0->2] <= 0
+ lamU[0-1]: - 1.01 eta-0-1 + lam-0-1 <= 0
+ lamD[0-1]: 1.01 eta-0-1 + lam-0-1 >= 0
+ uPlusLow-0-1-2: uplus[0-1->2] >= 0
+ uMinLow-0-1-2: umin[0-1->2] >= 0
+ uPlusHigh-0-1-2: - 1.01 eta-0-1 + uplus[0-1->2] <= 0
+ uMinHigh-0-1-2: - 1.01 eta-0-1 + umin[0-1->2] <= 0
+ dualFeas_0-1_2: - mu[2] + lam-0-1 - uplus[0-1->2] + umin[0-1->2] <= 0
+ uPlusLow-0-1-3: uplus[0-1->3] >= 0
+ uMinLow-0-1-3: umin[0-1->3] >= 0
+ uPlusHigh-0-1-3: - 1.01 eta-0-1 + uplus[0-1->3] <= 0
+ uMinHigh-0-1-3: - 1.01 eta-0-1 + umin[0-1->3] <= 0
+ dualFeas_0-1_3: - mu[3] + lam-0-1 - uplus[0-1->3] + umin[0-1->3] <= 0
+ lamU[1-0]: - 1.01 eta-1-0 + lam-1-0 <= 0
+ lamD[1-0]: 1.01 eta-1-0 + lam-1-0 >= 0
+ uPlusLow-1-0-2: uplus[1-0->2] >= 0
+ uMinLow-1-0-2: umin[1-0->2] >= 0
+ uPlusHigh-1-0-2: - 1.01 eta-1-0 + uplus[1-0->2] <= 0
+ uMinHigh-1-0-2: - 1.01 eta-1-0 + umin[1-0->2] <= 0
+ dualFeas_1-0_2: - mu[2] + lam-1-0 - uplus[1-0->2] + umin[1-0->2] <= 0
+ uPlusLow-1-0-3: uplus[1-0->3] >= 0
+ uMinLow-1-0-3: umin[1-0->3] >= 0
+ uPlusHigh-1-0-3: - 1.01 eta-1-0 + uplus[1-0->3] <= 0
+ uMinHigh-1-0-3: - 1.01 eta-1-0 + umin[1-0->3] <= 0
+ dualFeas_1-0_3: - mu[3] + lam-1-0 - uplus[1-0->3] + umin[1-0->3] <= 0
+ lamU[2-0]: - 1.01 eta-2-0 + lam-2-0 <= 0
+ lamD[2-0]: 1.01 eta-2-0 + lam-2-0 >= 0
+ uPlusLow-2-0-2: uplus[2-0->2] >= 0
+ uMinLow-2-0-2: umin[2-0->2] >= 0
+ uPlusHigh-2-0-2: - 1.01 eta-2-0 + uplus[2-0->2] <= 0
+ uMinHigh-2-0-2: - 1.01 eta-2-0 + umin[2-0->2] <= 0
+ dualFeas_2-0_2: - mu[2] + lam-2-0 - uplus[2-0->2] + umin[2-0->2] <= 0
+ lamU[3-0]: - 1.01 eta-3-0 + lam-3-0 <= 0
+ lamD[3-0]: 1.01 eta-3-0 + lam-3-0 >= 0
+ uPlusLow-3-0-3: uplus[3-0->3] >= 0
+ uMinLow-3-0-3: umin[3-0->3] >= 0
+ uPlusHigh-3-0-3: - 1.01 eta-3-0 + uplus[3-0->3] <= 0
+ uMinHigh-3-0-3: - 1.01 eta-3-0 + umin[3-0->3] <= 0
+ dualFeas_3-0_3: - mu[3] + lam-3-0 - uplus[3-0->3] + umin[3-0->3] <= 0
+ actSel-0: eta-0-0 + eta-0-1 >= 1
+ actSel-1: eta-1-0 >= 1
+ actSel-2: eta-2-0 >= 1
+ actSel-3: eta-3-0 >= 1
+ mc1-0-0: eta-0-0 + phi-0-0 >= 0
+ mc2-0-0: - eta-0-0 + phi-0-0 <= 0
+ mc3-0-0: - eta-0-0 - lam-0-0 + phi-0-0 >= -1
+ mc4-0-0: eta-0-0 - lam-0-0 + phi-0-0 <= 1
+ mc1-0-1: eta-0-1 + phi-0-1 >= 0
+ mc2-0-1: - eta-0-1 + phi-0-1 <= 0
+ mc3-0-1: - eta-0-1 - lam-0-1 + phi-0-1 >= -1
+ mc4-0-1: eta-0-1 - lam-0-1 + phi-0-1 <= 1
+ mc1-1-0: eta-1-0 + phi-1-0 >= 0
+ mc2-1-0: - eta-1-0 + phi-1-0 <= 0
+ mc3-1-0: - eta-1-0 - lam-1-0 + phi-1-0 >= -1
+ mc4-1-0: eta-1-0 - lam-1-0 + phi-1-0 <= 1
+ mc1-2-0: eta-2-0 + phi-2-0 >= 0
+ mc2-2-0: - eta-2-0 + phi-2-0 <= 0
+ mc3-2-0: - eta-2-0 - lam-2-0 + phi-2-0 >= -1
+ mc4-2-0: eta-2-0 - lam-2-0 + phi-2-0 <= 1
+ mc1-3-0: eta-3-0 + phi-3-0 >= 0
+ mc2-3-0: - eta-3-0 + phi-3-0 <= 0
+ mc3-3-0: - eta-3-0 - lam-3-0 + phi-3-0 >= -1
+ mc4-3-0: eta-3-0 - lam-3-0 + phi-3-0 <= 1
+ bell-0-0: mu[0] + 1.01 eta-0-0 + uplus[0-0->1] - 0.8 umin[0-0->1]
+ + 0.2 uplus[0-0->2] - phi-0-0 <= 1.01
+ bell-0-1: mu[0] + 1.01 eta-0-1 + 0.32 uplus[0-1->2] - 0.12 umin[0-1->2]
+ + 0.88 uplus[0-1->3] - 0.68 umin[0-1->3] - phi-0-1 <= 1.01
+ bell-1-0: mu[1] + 1.01 eta-1-0 + 0.2 uplus[1-0->2] + uplus[1-0->3]
+ - 0.8 umin[1-0->3] - phi-1-0 <= 1.01
+ bell-2-0: mu[2] + 1.01 eta-2-0 + uplus[2-0->2] - umin[2-0->2] - phi-2-0
+ <= 1.01
+ bell-3-0: mu[3] + 1.01 eta-3-0 + uplus[3-0->3] - umin[3-0->3] - phi-3-0
+ <= 1.01
+ multi-bound: mu[0] >= 0.65
+Bounds
+ mu[0] <= 1
+ mu[1] <= 1
+ mu[2] <= 1
+ mu[3] <= 1
+ -1 <= lam-0-0 <= 1
+ uplus[0-0->1] <= 1.01
+ umin[0-0->1] <= 1.01
+ uplus[0-0->2] <= 1.01
+ umin[0-0->2] <= 1.01
+ -1 <= lam-0-1 <= 1
+ uplus[0-1->2] <= 1.01
+ umin[0-1->2] <= 1.01
+ uplus[0-1->3] <= 1.01
+ umin[0-1->3] <= 1.01
+ -1 <= lam-1-0 <= 1
+ uplus[1-0->2] <= 1.01
+ umin[1-0->2] <= 1.01
+ uplus[1-0->3] <= 1.01
+ umin[1-0->3] <= 1.01
+ -1 <= lam-2-0 <= 1
+ uplus[2-0->2] <= 1.01
+ umin[2-0->2] <= 1.01
+ -1 <= lam-3-0 <= 1
+ uplus[3-0->3] <= 1.01
+ umin[3-0->3] <= 1.01
+ -1 <= phi-0-0 <= 1
+ -1 <= phi-0-1 <= 1
+ -1 <= phi-1-0 <= 1
+ -1 <= phi-2-0 <= 1
+ -1 <= phi-3-0 <= 1
+ Constant = 1
+Binaries
+ eta-0-0 eta-0-1 eta-1-0 eta-2-0 eta-3-0
+End
diff --git a/dual_e01_strat.txt b/dual_e01_strat.txt
new file mode 100644
index 0000000000..263c6ef829
--- /dev/null
+++ b/dual_e01_strat.txt
@@ -0,0 +1,4 @@
+0: f
+1: m
+2: trapped
+3: done
\ No newline at end of file
diff --git a/energy.prism b/energy.prism
new file mode 100644
index 0000000000..5cee3ece5c
--- /dev/null
+++ b/energy.prism
@@ -0,0 +1,52 @@
+mdp
+const int M = 5;
+const int N = 5;
+const int B = 10;
+const double p=0.3; // with probability p, staying in place occurs due to seeing and control noise
+const double e = 0.05;
+
+formula area1 = (r=1 & c=3);
+formula area2 = (r=3 & c=1);
+formula area3 = (r=5 & c=3);
+formula regen = (r=3 & c=3);
+formula drained = (battery=0);
+
+module robot
+ //define robot position
+ r:[1..N] init 4; //grid row
+ c:[1..M] init 1; //grid column
+ battery:[0..B] init B; // battery level
+
+ // transitions
+ [wait] ! regen & !drained -> 1.0: (r'=r);
+ [east] (c [p/3-e,p/3+e]:(r'=min(r+1, N)) &(battery'=max(battery-1, 0))+ [p/3-e,p/3+e]: (c'=max(c-1, 1))&(battery'=max(battery-1, 0))+ [p/3-e,p/3+e]: (r'=max(r-1, 1)) &(battery'=max(battery-1, 0))+[1-p-e,1-p+e]: (c'=min(c+1, M))&(battery'=max(battery-1, 0));
+ [south] (r [1-p-e,1-p+e]:(r'=min(r+1, N)) &(battery'=max(battery-1, 0))+ [p/3-e,p/3+e]: (c'=min(c+1, M)) &(battery'=max(battery-1, 0))+ [p/3-e,p/3+e]:(r'=max(r-1, 1))&(battery'=max(battery-1, 0))+ [p/3-e,p/3+e]: (c'=max(c-1, 1))&(battery'=max(battery-1, 0));
+ [west] (c>1 | c=1) & ! regen & !drained -> [p/3-e,p/3+e]:(r'=max(r-1, 1))&(battery'=max(battery-1, 0))+ [p/3-e,p/3+e]:(r'=min(r+1, N))&(battery'=max(battery-1, 0))+ [p/3-e,p/3+e]: (c'=min(c+1, M)) &(battery'=max(battery-1, 0))+ [1-p-e,1-p+e]: (c'=max(c-1, 1))&(battery'=max(battery-1, 0));
+ [north] (r=1 | r>1) & ! regen & !drained -> [1-p-e,1-p+e]:(r'=max(r-1, 1)) &(battery'=max(battery-1, 0))+ [p/3-e,p/3+e]: (c'=max(c-1, 1))&(battery'=max(battery-1, 0)) +[p/3-e,p/3+e]: (c'=min(c+1, M)) &(battery'=max(battery-1, 0))+ [p/3-e,p/3+e]:(r'=min(r+1, N))&(battery'=max(battery-1, 0));
+
+ // transitions battery regeneration
+ [east] (c p/3:(r'=min(r+1, N)) &(battery'=min(battery+2, B))+ p/3: (c'=max(c-1, 1))&(battery'=min(battery+2, B))+ p/3: (r'=max(r-1, 1)) &(battery'=min(battery+2, B))+ (1-p): (c'=min(c+1, M))&(battery'=min(battery+2, B));
+ [south] (r (1-p):(r'=min(r+1, N)) &(battery'=min(battery+2, B))+ p/3: (c'=min(c+1, M)) &(battery'=min(battery+2, B))+ p/3:(r'=max(r-1, 1))&(battery'=min(battery+2, B))+ p/3: (c'=max(c-1, 1))&(battery'=min(battery+2, B));
+ [west] (c>1 | c=1) & regen & !drained-> p/3:(r'=max(r-1, 1))&(battery'=min(battery+2, B))+ p/3:(r'=min(r+1, N))&(battery'=min(battery+2, B))+ p/3: (c'=min(c+1, M)) &(battery'=min(battery+2, B))+ (1-p): (c'=max(c-1, 1))&(battery'=min(battery+2, B));
+ [north] (r=1 | r>1) & regen & !drained-> (1-p):(r'=max(r-1, 1)) &(battery'=min(battery+2, B))+ p/3: (c'=max(c-1, 1))&(battery'=min(battery+2, B)) + p/3: (c'=min(c+1, M)) &(battery'=min(battery+2, B))+ p/3:(r'=min(r+1, N))&(battery'=min(battery+2, B));
+ [wait] regen & !drained -> 1: (r'=r) &(c'=c) & (battery'=min(battery+2, B));
+
+ // terminal state self-loop to avoid deadlock
+ [rescue] drained -> 1: (r'=r) &(c'=c) & (battery' = 0);
+
+endmodule
+
+label "goal" = area2;
+label "obs" = drained;
+
+rewards
+ [east] !drained: 1;
+ [south] !drained: 1;
+ [west] !drained: 1;
+ [north] !drained: 1;
+ [wait] !drained: 1;
+
+ // drained
+ [rescue] drained: 50;
+
+endrewards
diff --git a/example.prism b/example.prism
new file mode 100644
index 0000000000..126160f47a
--- /dev/null
+++ b/example.prism
@@ -0,0 +1,32 @@
+mdp
+
+const double e = 0.05;
+
+module finiteMaxReward
+ // States 0..4: 0 = initial, 3,4 = target
+ s : [0..4] init 0;
+
+ // From state 0: two ways to proceed
+ [goA] s=0 -> [0.5-e,0.5+e] : (s'=1) + [0.5-e,0.5+e] : (s'=2);
+ [goB] s=0 -> [0.5-e,0.5+e] : (s'=2) + [0.5-e,0.5+e] : (s'=4);
+
+ // From state 1: one step to target
+ [step] s=1 -> 1.0 : (s'=3);
+
+ // From state 2: one step to target
+ [step] s=2 -> 1.0 : (s'=4);
+
+ // Target is absorbing (no outgoing transitions)
+ [end] s=3 -> (s'=3);
+ [end] s=4 -> (s'=4);
+endmodule
+
+rewards "finiteReward"
+ // You get reward once, then the chain moves you toward the target.
+ [goA] s=0 : 5; // higher reward for choosing A
+ [goB] s=0 : 2; // smaller reward for choosing B
+ [step] s=1 : 3; // reward for stepping from 1→3
+ [step] s=2 : 1; // reward for stepping from 2→3
+endrewards
+
+label "goal" = (s=3 | s=4);
\ No newline at end of file
diff --git a/experiment/ac-imdp-6x5-10.prism b/experiment/ac-imdp-6x5-10.prism
new file mode 100644
index 0000000000..74349dc892
--- /dev/null
+++ b/experiment/ac-imdp-6x5-10.prism
@@ -0,0 +1,54 @@
+mdp
+
+
+const int maxX = 6;//10;
+const int maxY = 5;//4;
+const double r=0.8; //= 0.820795462532;// = 0.5; // pilot response factor
+const double e1 = 0.1;
+const double p=0.25;// = 0.19; // prob of adversary moving up or down, ensure 2p <= 1
+const double e2=0.01;
+
+
+formula xclose = (x-ax >= 0 & x-ax < 3) | (ax-x >= 0 & ax-x < 3);
+formula yclose = (y-ay >= 0 & y-ay < 2) | (ay-y >= 0 & ay-y < 2);
+formula collision = xclose & yclose;
+
+module aircraft
+
+ x : [0..maxX] init 0;
+ y : [0..maxY] init 1;
+
+
+ [down] x < maxX -> [r-e1,r+e1] : (y'=max(y-1,0)) & (x'=x+1) + [1-r-e1,1-r+e1] : (y'=y) & (x'=x+1);
+ [up] x < maxX -> [r-e1,r+e1] : (y'=min(y+1,maxY)) & (x'=x+1) + [1-r-e1,1-r+e1] : (y'=y) & (x'=x+1);
+ [stay] x < maxX -> (y'=y) & (x'=x+1);
+
+ [down] x = maxX -> true;
+ [up] x = maxX -> true;
+ [stay] x = maxX -> true;
+
+endmodule
+
+
+module adversary
+
+ ax : [0..maxX] init maxX;
+ ay : [0..maxY] init 1;
+
+ [up] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1)+ p/2: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/2:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [down] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1) + p/2: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/2:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [stay] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1) + p/2: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/2:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [up] ax = 0 -> true;
+ [down] ax = 0 -> true;
+ [stay] ax = 0 -> true;
+
+endmodule
+
+rewards
+ [up] true : 1;
+ [down] true : 1;
+ [stay] true : 1;
+endrewards
+
+label "goal" = x=maxX;
+label "Crash" = collision;
\ No newline at end of file
diff --git a/experiment/ac-imdp-6x5-12.prism b/experiment/ac-imdp-6x5-12.prism
new file mode 100644
index 0000000000..d6bbcab026
--- /dev/null
+++ b/experiment/ac-imdp-6x5-12.prism
@@ -0,0 +1,54 @@
+mdp
+
+
+const int maxX = 6;//10;
+const int maxY = 5;//4;
+const double r=0.8; //= 0.820795462532;// = 0.5; // pilot response factor
+const double e1 = 0.1;
+const double p=0.25;// = 0.19; // prob of adversary moving up or down, ensure 2p <= 1
+const double e2=0.01;
+
+
+formula xclose = (x-ax >= 0 & x-ax < 3) | (ax-x >= 0 & ax-x < 3);
+formula yclose = (y-ay >= 0 & y-ay < 2) | (ay-y >= 0 & ay-y < 2);
+formula collision = xclose & yclose;
+
+module aircraft
+
+ x : [0..maxX] init 0;
+ y : [0..maxY] init 1;
+
+
+ [down] x < maxX -> [r-e1,r+e1] : (y'=max(y-1,0)) & (x'=x+1) + [1-r-e1,1-r+e1] : (y'=y) & (x'=x+1);
+ [up] x < maxX -> [r-e1,r+e1] : (y'=min(y+1,maxY)) & (x'=x+1) + [1-r-e1,1-r+e1] : (y'=y) & (x'=x+1);
+ [stay] x < maxX -> (y'=y) & (x'=x+1);
+
+ [down] x = maxX -> true;
+ [up] x = maxX -> true;
+ [stay] x = maxX -> true;
+
+endmodule
+
+
+module adversary
+
+ ax : [0..maxX] init maxX;
+ ay : [0..maxY] init 1;
+
+ [up] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1) + p/3: (ay'=min(ay+1,maxY)) & (ax'=ax-2) + p/3: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/3:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [down] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1)+ p/3: (ay'=min(ay+1,maxY)) & (ax'=ax-2) + p/3: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/3:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [stay] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1)+ p/3: (ay'=min(ay+1,maxY)) & (ax'=ax-2) + p/3: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/3:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [up] ax = 0 -> true;
+ [down] ax = 0 -> true;
+ [stay] ax = 0 -> true;
+
+endmodule
+
+rewards
+ [up] true : 1;
+ [down] true : 1;
+ [stay] true : 1;
+endrewards
+
+label "goal" = x=maxX;
+label "Crash" = collision;
\ No newline at end of file
diff --git a/experiment/ac-imdp-6x5-14.prism b/experiment/ac-imdp-6x5-14.prism
new file mode 100644
index 0000000000..f0d8347a5e
--- /dev/null
+++ b/experiment/ac-imdp-6x5-14.prism
@@ -0,0 +1,54 @@
+mdp
+
+
+const int maxX = 6;//10;
+const int maxY = 5;//4;
+const double r=0.8; //= 0.820795462532;// = 0.5; // pilot response factor
+const double e1 = 0.1;
+const double p=0.25;// = 0.19; // prob of adversary moving up or down, ensure 2p <= 1
+const double e2=0.01;
+
+
+formula xclose = (x-ax >= 0 & x-ax < 3) | (ax-x >= 0 & ax-x < 3);
+formula yclose = (y-ay >= 0 & y-ay < 2) | (ay-y >= 0 & ay-y < 2);
+formula collision = xclose & yclose;
+
+module aircraft
+
+ x : [0..maxX] init 0;
+ y : [0..maxY] init 1;
+
+
+ [down] x < maxX -> [r-e1,r+e1] : (y'=max(y-1,0)) & (x'=x+1) + [1-r-e1,1-r+e1] : (y'=y) & (x'=x+1);
+ [up] x < maxX -> [r-e1,r+e1] : (y'=min(y+1,maxY)) & (x'=x+1) + [1-r-e1,1-r+e1] : (y'=y) & (x'=x+1);
+ [stay] x < maxX -> (y'=y) & (x'=x+1);
+
+ [down] x = maxX -> true;
+ [up] x = maxX -> true;
+ [stay] x = maxX -> true;
+
+endmodule
+
+
+module adversary
+
+ ax : [0..maxX] init maxX;
+ ay : [0..maxY] init 1;
+
+ [up] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1) + p/4: (ay'=min(ay-1,maxY)) & (ax'=ax-2)+ p/4: (ay'=min(ay+1,maxY)) & (ax'=ax-2) + p/4: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/4:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [down] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1)+ p/4: (ay'=min(ay-1,maxY)) & (ax'=ax-2)+ p/4: (ay'=min(ay+1,maxY)) & (ax'=ax-2) + p/4: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/4:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [stay] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1)+p/4: (ay'=min(ay-1,maxY)) & (ax'=ax-2)+ p/4: (ay'=min(ay+1,maxY)) & (ax'=ax-2) + p/4: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/4:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [up] ax = 0 -> true;
+ [down] ax = 0 -> true;
+ [stay] ax = 0 -> true;
+
+endmodule
+
+rewards
+ [up] true : 1;
+ [down] true : 1;
+ [stay] true : 1;
+endrewards
+
+label "goal" = x=maxX;
+label "Crash" = collision;
\ No newline at end of file
diff --git a/experiment/ac-imdp.prism b/experiment/ac-imdp.prism
new file mode 100644
index 0000000000..baa395164f
--- /dev/null
+++ b/experiment/ac-imdp.prism
@@ -0,0 +1,54 @@
+mdp
+
+
+const int maxX = 6;//10;
+const int maxY = 5;//4;
+const double r=0.8; //= 0.820795462532;// = 0.5; // pilot response factor
+const double e1 = 0.1;
+const double p=0.25;// = 0.19; // prob of adversary moving up or down, ensure 2p <= 1
+const double e2=0.01;
+
+
+formula xclose = (x-ax >= 0 & x-ax < 3) | (ax-x >= 0 & ax-x < 3);
+formula yclose = (y-ay >= 0 & y-ay < 2) | (ay-y >= 0 & ay-y < 2);
+formula collision = xclose & yclose;
+
+module aircraft
+
+ x : [0..maxX] init 0;
+ y : [0..maxY] init 1;
+
+
+ [down] x < maxX -> [r-e1,r+e1] : (y'=max(y-1,0)) & (x'=x+1) + [1-r-e1,1-r+e1] : (y'=y) & (x'=x+1);
+ [up] x < maxX -> [r-e1,r+e1] : (y'=min(y+1,maxY)) & (x'=x+1) + [1-r-e1,1-r+e1] : (y'=y) & (x'=x+1);
+ [stay] x < maxX -> (y'=y) & (x'=x+1);
+
+ [down] x = maxX -> true;
+ [up] x = maxX -> true;
+ [stay] x = maxX -> true;
+
+endmodule
+
+
+module adversary
+
+ ax : [0..maxX] init maxX;
+ ay : [0..maxY] init 1;
+
+ [up] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1) + p/2: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/2:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [down] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1) + p/2: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/2:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [stay] ax > 0 -> p : (ay'=max(ay-1,0)) & (ax'=ax-1) + p : (ay'=min(ay+1,maxY)) & (ax'=ax-1) + p/2: (ay'=min(ay+2,maxY)) & (ax'=ax-1) + p/2:(ay'=min(ay+2,maxY)) & (ax'=max(ax-2,0)) + (1-3*p) : (ay'=ay) & (ax'=ax-1);
+ [up] ax = 0 -> true;
+ [down] ax = 0 -> true;
+ [stay] ax = 0 -> true;
+
+endmodule
+
+rewards
+ [up] true : 1;
+ [down] true : 1;
+ [stay] true : 1;
+endrewards
+
+label "goal" = x=maxX;
+label "Crash" = collision;
\ No newline at end of file
diff --git a/experiment/ad-6x6-10.prism b/experiment/ad-6x6-10.prism
new file mode 100644
index 0000000000..0318c48451
--- /dev/null
+++ b/experiment/ad-6x6-10.prism
@@ -0,0 +1,80 @@
+mdp
+
+// Model parameters
+const double p = 0.1; // Mean disturbance probability
+const double e = 0.05; // Epistemic uncertainty
+formula a = x * e; // Epistemic uncertainty grows with x-coordinate
+
+const int M = 8; // Environment width
+const int N = 8; // Environment height
+
+const double eps = 0.0001; // Lower bound for probability ranges
+
+// Goal
+formula goal = x = 1 & y = N;
+
+// Obstacles
+// Obstacles
+formula crashed = (x = 2 & y = 3)
+ | (x = 3 & y = 3)
+ | (x = 3 & y = 4)
+ | (x = 2 & y = 2)
+ | (x = 4 & y = 1)
+ | (x = 5 & y = 3) // new
+ | (x = 6 & y = 2) // new
+ | (x = 7 & y = 5) // new
+ | (x = 4 & y = 6) // new
+ | (x = 2 & y = 7); // new
+
+
+// UAV behaviour
+module env
+
+ x : [1..M] init 1;
+ y : [1..N] init 1;
+
+ [up] !crashed & y < N -> [max(eps,1-4*(p+a)), min(1-4*(p-a),1)] : (y'=min(y+1,N)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (y'=min(y+1,N)) & (x'=max(x-1,1)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (y'=min(y+1,N)) & (x'=min(x+1,M))
+ + [max(eps,p-a), min(p+a,1)] : true
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (y'=min(y+1,N)) & (x'=max(x-2,1))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (y'=min(y+1,N)) & (x'=max(x+2,1))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (y'=min(y+2,N)) & (x'=max(x-2,1))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (y'=min(y+2,N)) & (x'=max(x+2,1))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (y'=min(y+2,N)) & (x'=max(x-2,1))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (y'=min(y+2,N)) & (x'=max(x+2,1));
+
+ [right] !crashed & x < M -> [max(eps,1-4*(p+a)), min(1-4*(p-a),1)] : (x'=min(x+1,M)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (x'=min(x+1,M)) & (y'=min(y+1,N)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (x'=max(x-1,1))
+ + [max(eps,p-a), min(p+a,1)] : true
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (y'=min(y+2,N)) & (x'=max(x+1,1))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (x'=max(x-2,1))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (y'=min(y+2,N)) & (x'=min(x+2,M))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (x'=max(x-2,1)) & (y'=min(y+1,N))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (y'=max(y-1,N)) & (x'=min(x+1,M))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (x'=max(x-2,1)) & (y'=max(y-1,1));
+
+ [left] !crashed & x > 1 -> [max(eps,1-3*(p+a)), min(1-3*(p-a),1)] : (x'=max(x-1,1)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (x'=max(x-1,1)) & (y'=min(y+1,N)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (x'=min(x+1,M))
+ + [max(eps,p-a), min(p+a,1)] : true
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (y'=min(y+2,N)) & (x'=max(x-1,1))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (x'=min(x+2,M))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (y'=min(y+2,N)) & (x'=max(x-2,1))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)]: (x'=min(x+2,M)) & (y'=min(y+1,N))
+ + [max(eps,(p-a)/6), min((p+a)/6,1)] : (x'=max(x-1,1)) & (y'=min(y+2,N)) // Probabilities to get pushed by wind
+ + [max(eps,(p-a)/6), min((p+a)/6,1)] : (x'=min(x+1,M)) & (y' = min(y+2,N));
+
+endmodule
+
+
+rewards
+ [up] true : 1;
+ [right] true: 1;
+ [left] true : 1;
+endrewards
+
+// Labelling
+label "Crash" = crashed;
+label "goal" = goal;
\ No newline at end of file
diff --git a/experiment/ad-6x6-6.prism b/experiment/ad-6x6-6.prism
new file mode 100644
index 0000000000..7b0e6cd9c2
--- /dev/null
+++ b/experiment/ad-6x6-6.prism
@@ -0,0 +1,68 @@
+mdp
+
+// Model parameters
+const double p = 0.1; // Mean disturbance probability
+const double e = 0.05; // Epistemic uncertainty
+formula a = x * e; // Epistemic uncertainty grows with x-coordinate
+
+const int M = 8; // Environment width
+const int N = 8; // Environment height
+
+const double eps = 0.0001; // Lower bound for probability ranges
+
+// Goal
+formula goal = x = 1 & y = N;
+
+// Obstacles
+// Obstacles
+formula crashed = (x = 2 & y = 3)
+ | (x = 3 & y = 3)
+ | (x = 3 & y = 4)
+ | (x = 2 & y = 2)
+ | (x = 4 & y = 1)
+ | (x = 5 & y = 3) // new
+ | (x = 6 & y = 2) // new
+ | (x = 7 & y = 5) // new
+ | (x = 4 & y = 6) // new
+ | (x = 2 & y = 7); // new
+
+
+// UAV behaviour
+module env
+
+ x : [1..M] init 1;
+ y : [1..N] init 1;
+
+ [up] !crashed & y < N -> [max(eps,1-4*(p+a)), min(1-4*(p-a),1)] : (y'=min(y+1,N)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (y'=min(y+1,N)) & (x'=max(x-1,1)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (y'=min(y+1,N)) & (x'=min(x+1,M))
+ + [max(eps,p-a), min(p+a,1)] : true
+ + [max(eps,(p-a)/2), min((p+a)/2,1)]: (y'=min(y+1,N)) & (x'=max(x-2,1))
+ + [max(eps,(p-a)/2), min((p+a)/2,1)]: (y'=min(y+1,N)) & (x'=max(x+2,1)) ;
+
+ [right] !crashed & x < M -> [max(eps,1-4*(p+a)), min(1-4*(p-a),1)] : (x'=min(x+1,M)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (x'=min(x+1,M)) & (y'=min(y+1,N)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (x'=max(x-1,1))
+ + [max(eps,p-a), min(p+a,1)] : true
+ + [max(eps,(p-a)/2), min((p+a)/2,1)]: (y'=min(y+2,N)) & (x'=max(x+1,1))
+ + [max(eps,(p-a)/2), min((p+a)/2,1)]: (x'=max(x-2,1));
+
+ [left] !crashed & x > 1 -> [max(eps,1-3*(p+a)), min(1-3*(p-a),1)] : (x'=max(x-1,1)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (x'=max(x-1,1)) & (y'=min(y+1,N)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (x'=min(x+1,M))
+ + [max(eps,p-a), min(p+a,1)] : true
+ + [max(eps,(p-a)/2), min((p+a)/2,1)]: (y'=min(y+2,N)) & (x'=max(x-1,1))
+ + [max(eps,(p-a)/2), min((p+a)/2,1)]: (x'=min(x+2,M));
+
+endmodule
+
+
+rewards
+ [up] true : 1;
+ [right] true: 1;
+ [left] true : 1;
+endrewards
+
+// Labelling
+label "Crash" = crashed;
+label "goal" = goal;
\ No newline at end of file
diff --git a/experiment/ad-6x6-og.prism b/experiment/ad-6x6-og.prism
new file mode 100644
index 0000000000..bfbcda5747
--- /dev/null
+++ b/experiment/ad-6x6-og.prism
@@ -0,0 +1,62 @@
+mdp
+
+// Model parameters
+const double p = 0.1; // Mean disturbance probability
+const double e = 0.05; // Epistemic uncertainty
+formula a = x * e; // Epistemic uncertainty grows with x-coordinate
+
+const int M = 8; // Environment width
+const int N = 8; // Environment height
+
+const double eps = 0.0001; // Lower bound for probability ranges
+
+// Goal
+formula goal = x = 1 & y = N;
+
+// Obstacles
+// Obstacles
+formula crashed = (x = 2 & y = 3)
+ | (x = 3 & y = 3)
+ | (x = 3 & y = 4)
+ | (x = 2 & y = 2)
+ | (x = 4 & y = 1)
+ | (x = 5 & y = 3) // new
+ | (x = 6 & y = 2) // new
+ | (x = 7 & y = 5) // new
+ | (x = 4 & y = 6) // new
+ | (x = 2 & y = 7); // new
+
+
+// UAV behaviour
+module env
+
+ x : [1..M] init 1;
+ y : [1..N] init 1;
+
+ [up] !crashed & y < N -> [max(eps,1-3*(p+a)), min(1-3*(p-a),1)] : (y'=min(y+1,N)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (y'=min(y+1,N)) & (x'=max(x-1,1)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (y'=min(y+1,N)) & (x'=min(x+1,M))
+ + [max(eps,p-a), min(p+a,1)] : true;
+
+ [right] !crashed & x < M -> [max(eps,1-3*(p+a)), min(1-3*(p-a),1)] : (x'=min(x+1,M)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (x'=min(x+1,M)) & (y'=min(y+1,N)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (x'=max(x-1,1))
+ + [max(eps,p-a), min(p+a,1)] : true;
+
+ [left] !crashed & x > 1 -> [max(eps,1-3*(p+a)), min(1-3*(p-a),1)] : (x'=max(x-1,1)) // Probability to move in intended direction
+ + [max(eps,p-a), min(p+a,1)] : (x'=max(x-1,1)) & (y'=min(y+1,N)) // Probabilities to get pushed by wind
+ + [max(eps,p-a), min(p+a,1)] : (x'=min(x+1,M))
+ + [max(eps,p-a), min(p+a,1)] : true;
+
+endmodule
+
+
+rewards
+ [up] true : 1;
+ [right] true: 1;
+ [left] true : 1;
+endrewards
+
+// Labelling
+label "Crash" = crashed;
+label "goal" = goal;
\ No newline at end of file
diff --git a/experiment/ad-running.prism b/experiment/ad-running.prism
new file mode 100644
index 0000000000..a64a2aa96e
--- /dev/null
+++ b/experiment/ad-running.prism
@@ -0,0 +1,48 @@
+mdp
+
+// Model parameters
+const double p = 0.1; // Mean disturbance probability
+const double e = 0.05; // Epistemic uncertainty
+
+// Goal
+formula goal = (s=2);
+
+// Obstacles
+formula crashed = (s = 1);
+
+// UAV behaviour
+module env
+
+ s : [0..5] init 0;
+
+ // s = 0
+
+ [right] s = 0 -> [0.5, 0.75] : (s'=1) + [0.4, 0.5] : (s'=4) + [0.05, 0.1] : (s'=0);
+ [down] s = 0 -> [0.6, 0.8] : (s'=3) + [0.35, 0.45] : (s'=4);
+
+ // s = 1
+ [crash] crashed -> true;
+
+ // s = 2
+ [done] goal -> true;
+
+ // s = 3
+ [right] s = 3 -> [0.5, 0.75] : (s'=4) + [0.25, 0.5] : (s'=1);
+
+ // s = 4
+ [up] s = 4 -> [0.5, 0.75] : (s' = 1) + [0.25, 0.5] : (s' = 2);
+ [right] s = 4 -> [0.5, 0.75] : (s'=5) + [0.25, 0.5] : (s' = 2);
+
+ // s = 5
+ [up] s = 5 -> [0.5, 0.75] : (s' = 2) + [0.25, 0.5]: (s' = 5);
+endmodule
+
+rewards
+ [up] true : 1;
+ [right] true : 1;
+ [down] true : 1;
+endrewards
+
+// Labelling
+label "Crash" = crashed;
+label "goal" = goal;
\ No newline at end of file
diff --git a/experiment/ov-5x5.prism b/experiment/ov-5x5.prism
new file mode 100644
index 0000000000..7b26f1a164
--- /dev/null
+++ b/experiment/ov-5x5.prism
@@ -0,0 +1,86 @@
+mdp
+
+//─── PARAMETERS ────────────────────────────────────────────────────────────────
+const int N = 5; // grid size: 0..N-1 in both x and y
+const int K = 1000; // # of intermediate sub-steps per move
+const double p = 0.8; // intended-direction probability
+const double e = 0.01; // slip‐interval half-width
+
+//─── HOLES & GOAL ──────────────────────────────────────────────────────────────
+formula hole = (x=1 & y=0)
+ | (x=1 & y=3)
+ | (x=2 & y=4)
+ | (x=3 & y=2)
+ | (x=4 & y=1);
+
+formula goal = (x=4 & y=4);
+formula terminal = hole | goal;
+
+//─── MODULE ────────────────────────────────────────────────────────────────────
+module frozenlake
+
+ // “true” state
+ x : [0..N-1] init 0; // column
+ y : [0..N-1] init 0; // row
+
+ // internal bookkeeping for a “multi-step” move
+ tx : [0..N-1] init 0; // target column
+ ty : [0..N-1] init 0; // target row
+ step: [0..K] init 0; // current sub-step (0 = ready to pick a direction)
+
+ //── Initial direction choice (step=0) ────────────────────────────────────────
+ [north] step=0 & !terminal ->
+ // intended north
+ [p-e, p+e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1) +
+ // slip west
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1) +
+ // slip east
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1) +
+ // slip south
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1);
+
+ [south] step=0 & !terminal ->
+ [p-e, p+e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1);
+
+ [east] step=0 & !terminal ->
+ [p-e, p+e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1);
+
+ [west] step=0 & !terminal ->
+ [p-e, p+e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1);
+
+ //── Substep “in-flight” transitions ─────────────────────────────────────────
+ // for 1 ≤ step < K, only one action: advance sub-step
+ [move] step>0 & step 1.0 : (step'=step+1);
+
+ // at step=K commit the move into (x,y) and reset
+ [move] step=K -> 1.0 : (x'=tx) & (y'=ty) & (step'=0);
+
+ //── Terminal self-loops ─────────────────────────────────────────────────────
+ [getTrap] terminal -> 1.0 : (x'=x) & (y'=y) & (step'=0);
+ [done] goal & step = 0 -> true;
+
+endmodule
+
+//─── LABELS ───────────────────────────────────────────────────────────────────
+label "start" = (x=0 & y=0) & step=0;
+label "Crash" = hole;
+label "goal" = goal & step=0;
+label "safe" = !hole & !goal;
+
+//─── REWARDS ─────────────────────────────────────────────────────────────────
+rewards
+ // count 1 reward per *grid-to-grid* move (i.e. when you pick a direction at step=0)
+ [north] step=0 & !terminal : 1;
+ [south] step=0 & !terminal : 1;
+ [east] step=0 & !terminal : 1;
+ [west] step=0 & !terminal : 1;
+endrewards
diff --git a/experiment/ov-6x6.prism b/experiment/ov-6x6.prism
new file mode 100644
index 0000000000..80f19ff722
--- /dev/null
+++ b/experiment/ov-6x6.prism
@@ -0,0 +1,86 @@
+mdp
+
+//─── PARAMETERS ────────────────────────────────────────────────────────────────
+const int N = 6; // grid size: 0..N-1 in both x and y
+const int K = 1000; // # of intermediate sub-steps per move
+const double p = 0.8; // intended-direction probability
+const double e = 0.05; // slip‐interval half-width
+
+//─── HOLES & GOAL ──────────────────────────────────────────────────────────────
+formula hole = (x=1 & y=0)
+ | (x=1 & y=3)
+ | (x=2 & y=4)
+ | (x=3 & y=2)
+ | (x=4 & y=1)
+ | (x=4 & y=4);
+formula goal = (x=5 & y=5);
+formula terminal = hole | goal;
+
+//─── MODULE ────────────────────────────────────────────────────────────────────
+module frozenlake
+
+ // “true” state
+ x : [0..N-1] init 0; // column
+ y : [0..N-1] init 0; // row
+
+ // internal bookkeeping for a “multi-step” move
+ tx : [0..N-1] init 0; // target column
+ ty : [0..N-1] init 0; // target row
+ step: [0..K] init 0; // current sub-step (0 = ready to pick a direction)
+
+ //── Initial direction choice (step=0) ────────────────────────────────────────
+ [north] step=0 & !terminal ->
+ // intended north
+ [p-e, p+e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1) +
+ // slip west
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1) +
+ // slip east
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1) +
+ // slip south
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1);
+
+ [south] step=0 & !terminal ->
+ [p-e, p+e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1);
+
+ [east] step=0 & !terminal ->
+ [p-e, p+e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1);
+
+ [west] step=0 & !terminal ->
+ [p-e, p+e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1);
+
+ //── Substep “in-flight” transitions ─────────────────────────────────────────
+ // for 1 ≤ step < K, only one action: advance sub-step
+ [move] step>0 & step 1.0 : (step'=step+1);
+
+ // at step=K commit the move into (x,y) and reset
+ [move] step=K -> 1.0 : (x'=tx) & (y'=ty) & (step'=0);
+
+ //── Terminal self-loops ─────────────────────────────────────────────────────
+ [getTrap] terminal -> 1.0 : (x'=x) & (y'=y) & (step'=0);
+ [done] goal & step = 0 -> true;
+
+endmodule
+
+//─── LABELS ───────────────────────────────────────────────────────────────────
+label "start" = (x=0 & y=0) & step=0;
+label "Crash" = hole;
+label "goal" = goal & step=0;
+label "safe" = !hole & !goal;
+
+//─── REWARDS ─────────────────────────────────────────────────────────────────
+rewards
+ // count 1 reward per *grid-to-grid* move (i.e. when you pick a direction at step=0)
+ [north] step=0 & !terminal : 1;
+ [south] step=0 & !terminal : 1;
+ [east] step=0 & !terminal : 1;
+ [west] step=0 & !terminal : 1;
+endrewards
diff --git a/experiment/re.prism b/experiment/re.prism
new file mode 100644
index 0000000000..3090821548
--- /dev/null
+++ b/experiment/re.prism
@@ -0,0 +1,27 @@
+mdp
+
+const double e = 0.1;
+
+module OneOut_allLoPositive
+ // States: 0 initial; 1 goes to goal; 2 goes to sink; 3 goal; 4 sink
+ s : [0..3] init 0;
+
+ // s = 0
+ [m] s=0 -> [0.9 - e, 0.9 + e] : (s'=1) + [0.1 - e, 0.1 + e] : (s' = 2);
+ [f] s=0 -> [0.78-e,0.78+e] : (s'=3) + [0.22-e, 0.22+e] : (s' = 2);
+
+ // s = 1
+
+ [m] s = 1 -> [0.9 - e, 0.9 + e] : (s'=3) + [0.1 - e, 0.1 + e] : (s' = 2);
+
+ [trapped] s=2 -> (s'=2); // trap
+ [done] s=3 -> (s'=3); // goal
+endmodule
+
+rewards
+ [m] true : 1;
+ [f] true : 1;
+endrewards
+
+label "goal" = s=3;
+label "Crash" = s=2;
diff --git a/experiment/sav-imdp.prism b/experiment/sav-imdp.prism
new file mode 100644
index 0000000000..6af53a15f5
--- /dev/null
+++ b/experiment/sav-imdp.prism
@@ -0,0 +1,61 @@
+// GRID WORLD MODEL OF A SEMIAUTONOMOUS EXPLORING ROBOT
+// Sebastian Junges, RWTH Aachen University
+// As described in
+// Junges, Jansen, Dehnert, Topcu, Katoen:
+// Safety Constrained Reinforcement Learning
+// Proc. of TACAS’16
+
+mdp
+
+//PARAMETERS
+//The difference of the reliability of the channels between the worst and at the best position
+const double pLDiff=0.7;
+const double pHDiff=0.1;
+const double u=0.03;
+//Scaling factor for the minimum reliability of the channels
+const double pL=0.2;
+const double pH=0.3;
+
+//CONSTANTS
+//The minimum reliablities
+const double pLMin=pL*(1-pLDiff);
+const double pHMin= pH*(1-pHDiff);
+
+// Grid size
+const int Xsize = 5;
+const int Ysize = 5;
+// Number of tries before an error
+const int MAXTRIES = 2;
+// Ball within the robot has to move.
+const int B = 2;
+
+
+formula T = (xLoc = Xsize & yLoc = Ysize);
+
+
+module robot
+ xLoc : [1..Ysize] init 1;
+ yLoc : [1..Xsize] init 1;
+ unreported : [0..B] init 0;
+ hasSendNow : bool init false;
+ tries : [0..MAXTRIES] init 0;
+
+ [up] xLoc < Xsize & !T & hasSendNow -> 1:(xLoc'=xLoc+1) & (unreported' = 0) & (hasSendNow'=false);
+ [up] xLoc < Xsize & !T & !hasSendNow -> 1:(xLoc'=xLoc+1) & (unreported'=min(unreported+1, B));
+ [right] yLoc < Ysize & !T & hasSendNow -> 1:(yLoc'=yLoc+1) & (unreported' = 0)& (hasSendNow'=false);
+ [right] yLoc < Ysize & !T & !hasSendNow -> 1:(yLoc'=yLoc+1) & (unreported'=min(unreported+1,B));
+ [sendL] !hasSendNow & !T & tries < MAXTRIES -> [pLMin + pLDiff * xLoc/Xsize-u,pLMin + pLDiff * xLoc/Xsize+u]:(hasSendNow'=true) & (tries'=0) + [1 - pLMin - pLDiff * xLoc/Xsize-u,1 - pLMin - pLDiff * xLoc/Xsize+u]: (tries'=tries+1);
+ [sendH] !hasSendNow & !T & tries < MAXTRIES -> [pHMin + pHDiff * yLoc/Ysize-u,pHMin + pHDiff * yLoc/Ysize+u]:(hasSendNow'=true) & (tries'=0) + [1 - pHMin - pHDiff * yLoc/Ysize-u,1 - pHMin - pHDiff * yLoc/Ysize+u]: (tries'=tries+1);
+ [done] T -> 1:true;
+endmodule
+
+rewards
+ [up] true: 0.03;
+ [right] true: 0.03;
+ [sendL] true: max(10, min(11 + xLoc - yLoc, 20));
+ [sendH] true: min(13 + xLoc + yLoc, 24);
+endrewards
+
+
+label "goal" = T;
+label "Crash" = unreported=B;
\ No newline at end of file
diff --git a/experiment/wh.prism b/experiment/wh.prism
new file mode 100644
index 0000000000..0a6d34c384
--- /dev/null
+++ b/experiment/wh.prism
@@ -0,0 +1,119 @@
+mdp
+
+//─── PARAMETERS ──────────────────────────────────────────────────────────────
+const int K = 250; // # of sub‐steps per move
+const double p = 0.7; // nominal success prob.
+const double e = 0.05; // uncertainty radius
+
+//─── STATE ────────────────────────────────────────────────────────────────────
+module graph_imdp
+ s : [0..14] init 0; // which node
+ step : [0..K] init 0; // progress along chosen edge
+
+ //───────────────────────────────────────────────────────────────────────────
+ // EAST moves (horizontal rightwards)
+ //────────── sub‐steps ─────────────────────────────────────────────────────
+ [east] (step < K) & (s=0|s=3|s=4|s=8|s=11|s=12)
+ -> 1 : (step' = step + 1);
+
+ //────────── final jump ─────────────────────────────────────────────────────
+ [east] (step = K) & (s=0)
+ -> [p-e, p+e]:(s'=1)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=0)&(step'=step);
+ [east] (step = K) & (s=2)
+ -> [p-2*e, p+2*e]:(s'=1)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=0)&(step'=step);
+ [east] (step = K) & (s=3)
+ -> [p-e, p+e]:(s'=2)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=3)&(step'=step);
+ [east] (step = K) & (s=4)
+ -> [p-e, p+e]:(s'=5)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=4)&(step'=step);
+ [east] (step = K) & (s=8)
+ -> [p-e, p+e]:(s'=9)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=8)&(step'=step);
+ [east] (step = K) & (s=11)
+ -> [p-e, p+e]:(s'=12)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=11)&(step'=step);
+ [east] (step = K) & (s=12)
+ -> [p-e, p+e]:(s'=13)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=12)&(step'=step);
+ [east] (step = K) & (s=13)
+ -> [p-e, p+e]:(s'=14)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=13)&(step'=step);
+
+ //───────────────────────────────────────────────────────────────────────────
+ // SOUTH moves (vertical downwards)
+ [south] (step < K) & (s=0|s=1|s=2|s=3|s=4|s=5|s=6|s=7|s=8|s=9)
+ -> 1 : (step' = step + 1);
+
+ [south] (step = K) & (s=0)
+ -> [p-e, p+e]:(s'=3)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=0)&(step'=step);
+ [south] (step = K) & (s=1)
+ -> [p-e, p+e]:(s'=2)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=1)&(step'=step);
+ [south] (step = K) & (s=2)
+ -> [p-e, p+e]:(s'=5)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=2)&(step'=step);
+ [south] (step = K) & (s=3)
+ -> [p-e, p+e]:(s'=4)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=3)&(step'=step);
+ [south] (step = K) & (s=4)
+ -> [p-e, p+e]:(s'=8)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=4)&(step'=step);
+ [south] (step = K) & (s=5)
+ -> [p-e, p+e]:(s'=9)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=5)&(step'=step);
+ [south] (step = K) & (s=6)
+ -> [p-2*e, p+2*e]:(s'=7)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=6)&(step'=step);
+ [south] (step = K) & (s=7)
+ -> [p-2*e, p+2*e]:(s'=10)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=7)&(step'=step);
+ [south] (step = K) & (s=8)
+ -> [p-e, p+e]:(s'=11)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=8)&(step'=step);
+ [south] (step = K) & (s=9)
+ -> [p-e, p+e]:(s'=12)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=9)&(step'=step);
+
+ //───────────────────────────────────────────────────────────────────────────
+ // WEST moves (horizontal leftwards)
+ [west] (step < K) & (s=7)
+ -> 1 : (step' = step + 1);
+ [west] (step = K) & (s=7)
+ -> [p-2*e, p+2*e]:(s'=5)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=7)&(step'=step);
+
+ [west] (step < K) & (s=10)
+ -> 1 : (step' = step + 1);
+ [west] (step = K) & (s=10)
+ -> [p-2*e, p+2*e]:(s'=9)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=10)&(step'=step);
+
+ //───────────────────────────────────────────────────────────────────────────
+ // EXIT moves (diagonal/termination from 10→14)
+ [exit] (step < K) & (s=10)
+ -> 1 : (step' = step + 1);
+ [exit] (step = K) & (s=10)
+ -> [p-2*e, p+2*e]:(s'=14)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=10)&(step'=step);
+ [exit] (step < K) & (s=13)
+ -> 1 : (step' = step + 1);
+ [exit] (step = K) & (s=13)
+ -> [p-e, p+e]:(s'=14)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=13)&(step'=step);
+
+ // state 14 has no outgoing moves
+ [done] s = 14 & step = 0 -> true;
+endmodule
+
+
+label "goal" = (s = 14 & step = 0);
+
+rewards
+ [east] true : 1;
+ [west] true : 1;
+ [south] true : 1;
+endrewards
diff --git a/firewire-imdp.prism b/firewire-imdp.prism
new file mode 100644
index 0000000000..cf123296d0
--- /dev/null
+++ b/firewire-imdp.prism
@@ -0,0 +1,79 @@
+// integer semantics version of abstract firewire protocol
+// gxn 23/05/2001
+
+mdp
+
+// wire delay
+const int delay=1;
+
+// probability of choosing fast and slow
+const double fast=0.5;
+const double slow = 1-fast;
+const double e = 0.05;
+
+// largest constant the clock of the system is compared to
+const int kx = 167;
+
+module abstract_firewire
+
+ // clock
+ x : [0..kx+1];
+
+ // local state
+ s : [0..9];
+ // 0 -start_start
+ // 1 -fast_start
+ // 2 -start_fast
+ // 3 -start_slow
+ // 4 -slow_start
+ // 5 -fast_fast
+ // 6 -fast_slow
+ // 7 -slow_fast
+ // 8 -slow_slow
+ // 9 -done
+
+ // initial state
+ [time] s=0 & x (x'=min(x+1,kx+1));
+ [round1] s=0 -> [fast-e,fast+e] : (s'=1) + [slow-e,slow+e] : (s'=4);
+ [round2] s=0 -> [fast-e,fast+e] : (s'=2) + [slow-e,slow+e] : (s'=3);
+ // fast_start
+ [time] s=1 & x (x'=min(x+1,kx+1));
+ [tfs] s=1 -> fast : (s'=5) & (x'=0) + slow : (s'=6) & (x'=0);
+ // start_fast
+ [time] s=2 & x (x'=min(x+1,kx+1));
+ [tsf] s=2 -> [fast-e,fast+e] : (s'=5) & (x'=0) + [slow-e,slow+e] : (s'=7) & (x'=0);
+ // start_slow
+ [time] s=3 & x (x'=min(x+1,kx+1));
+ [tss] s=3 -> fast : (s'=6) & (x'=0) + [slow-e,slow+e] : (s'=8) & (x'=0);
+ // slow_start
+ [time] s=4 & x (x'=min(x+1,kx+1));
+ [tsls] s=4 -> [fast-e,fast+e] : (s'=7) & (x'=0) +[slow-e,slow+e]: (s'=8) & (x'=0);
+ // fast_fast
+ [time] s=5 & (x<85) -> (x'=min(x+1,kx+1));
+ [tff] s=5 & (x>=76) -> (s'=0) & (x'=0);
+ [tff2] s=5 & (x>=76-delay) -> (s'=9) & (x'=0);
+ // fast_slow
+ [time] s=6 & x<167 -> (x'=min(x+1,kx+1));
+ [tfs] s=6 & x>=159-delay -> (s'=9) & (x'=0);
+ // slow_fast
+ [time] s=7 & x<167 -> (x'=min(x+1,kx+1));
+ [tsf] s=7 & x>=159-delay -> (s'=9) & (x'=0);
+ // slow_slow
+ [time] s=8 & x<167 -> (x'=min(x+1,kx+1));
+ [tss] s=8 & x>=159 -> (s'=0) & (x'=0);
+ [tss] s=8 & x>=159-delay -> (s'=9) & (x'=0);
+ // done
+ [done] s=9 -> 1:(s'=s);
+
+endmodule
+
+//reward structures
+// time
+rewards
+ [time] true : 1;
+endrewards
+// number of rounds
+//rewards "rounds"
+// [round] true : 1;
+//endrewards
+label "goal" = (s=9);
\ No newline at end of file
diff --git a/hav-imdp.prism b/hav-imdp.prism
new file mode 100644
index 0000000000..7f0883766c
--- /dev/null
+++ b/hav-imdp.prism
@@ -0,0 +1,284 @@
+mdp
+
+// operator parameters
+const double p=0.5; // probability of increasing workload due to other uncertain tasks
+const double accu_load1=0.2; // accuracy at the low workload level (real numbers between 0 and 1)
+const double accu_load2=0.3; // accuracy at the high workload level (real numbers between 0 and 1)
+const double fd=0.3; // accuracy discount due to fatigue (real numbers between 0 and 1)
+const int COUNTER=1; // fatigue threshold (integers, e.g, 10)
+const double risky2=0.25; // at w2: probability of choosing a risky route
+const double risky6=0.25; // at w6: probability of choosing a risky route
+
+global stop : bool init false; // done visiting all waypoints
+formula roz = (r=8) | (w=3&a=1) | (w=3&a=2) | (w=5&a=2); // restricted operating zones
+
+
+// OPERATOR MODEL
+module operator
+
+ k:[0..100] init 0; // fatigue level measured by completetd tasks
+ t:[0..2] init 0; // workload level
+ s:[0..2] init 0; // status of image processing, 0: init, 1: good, 2: bad
+ c:[0..3] init 0; // choices at the check point
+
+ // image processing, the workload may increase due to other unknown tasks
+ [image] !stop & t=0 & s=0 -> [1-p-0.05,1-p+0.05]:(t'=1) & (s'=0) + [p-0.05,p+0.05]:(t'=2) & (s'=0);
+ // not fatigue, workload level 1
+ [process] !stop & t=1 & s=0 & k<=COUNTER -> accu_load1:(s'=1)&(k'=k+1) + (1-accu_load1):(s'=2)&(k'=k+1);
+ // fatigue, workload level 1
+ [process] !stop & t=1 & s=0 & k>COUNTER -> accu_load1*fd:(s'=1) + (1-accu_load1*fd):(s'=2);
+ // not fatigue, workload level 2
+ [process] !stop & t=2 & s=0 & k<=COUNTER -> accu_load2:(s'=1)&(k'=k+1) + (1-accu_load2):(s'=2)&(k'=k+1);
+ // fatigue, workload level 2
+ [process] !stop & t=2 & s=0 & k>COUNTER -> accu_load2*fd:(s'=1) + (1-accu_load2*fd):(s'=2);
+
+ // image analysis is bad, UAV need to wait at the waypoint and take another image
+ [wait] !stop & s=2 -> (t'=0) & (s'=0);
+
+ // if image analysis is good, UAV can continue flying
+ // at check points, operator may suggest route for the UAV
+
+ // w2 -> r5 (c=0) |r6 (c=1) |r7 (c=2)|r9 (c=3)
+ [go] !stop & s=1 & w=2 -> risky2:(c'=2) & (t'=0) & (s'=0) + (1-risky2)/3:(c'=3) & (t'=0) & (s'=0)
+ +(1-risky2)/3:(c'=1) & (t'=0) & (s'=0) + (1-risky2)/3:(c'=0) & (t'=0) & (s'=0);
+
+ // w5 -> r3 (c=0)| r4 (c=1)| w4 (c=2)
+ [go] !stop & s=1 & w=5 -> 1/3:(c'=2) & (t'=0) & (s'=0) + 1/3:(c'=1) & (t'=0) & (s'=0)
+ + 1/3:(c'=0) & (t'=0) & (s'=0);
+
+ // w6 -> r2 (c=0)| r3 (c=1) |r8 (c=2)
+ [go] !stop & s=1 & w=6 -> risky6:(c'=2) & (t'=0) & (s'=0) + (1-risky6)/2:(c'=1) & (t'=0) & (s'=0)
+ + (1-risky6)/2:(c'=0) & (t'=0) & (s'=0);
+
+ // at non-check-points, UAV has full autonomy to choose flying route
+ [go] !stop & s=1 & (w!=2 & w!=5 & w!=6) -> (t'=0) & (s'=0);
+
+ // operator stops
+ [] !stop & w1 & w2 & w6 -> (stop'=true);
+ [operator_stop] stop -> true;
+
+endmodule
+
+
+// UAV MODEL
+module UAV
+ // UAV positions:
+ // inside a waypoint: w!=0, a=0, r=0
+ // fly through certain angle of a waypoint: w!=0, a!=0, r=0
+ // fly through a road point: w=0, a=0, r!=0
+ w:[0..6] init 1; // waypoint
+ a:[0..8] init 0; // angle points
+ r:[0..9] init 0; // road points
+ send: bool init true;
+ in: bool init true;
+ // flag that a waypoint has been visited
+ w1: bool init true;
+ w2: bool init false;
+ w3: bool init false;
+ w4: bool init false;
+ w5: bool init false;
+ w6: bool init false;
+
+ // at any waypoint:
+ // send image to human operator for analysis
+ [image] w!=0 & a=0 & r=0 & send -> (send'=false);
+ // wait at the waypoint and send another image
+ [wait] !send -> (send'=true);
+ // fly into a waypoint and take an image
+ [camera] w=1 & a!=0 & r=0 & in -> (a'=0) & (send'=true) & (w1'=true);
+ [camera] w=2 & a!=0 & r=0 & in -> (a'=0) & (send'=true) & (w2'=true);
+ [camera] w=3 & a!=0 & r=0 & in -> (a'=0) & (send'=true) & (w3'=true);
+ [camera] w=4 & a!=0 & r=0 & in -> (a'=0) & (send'=true) & (w4'=true);
+ [camera] w=5 & a!=0 & r=0 & in -> (a'=0) & (send'=true) & (w5'=true);
+ [camera] w=6 & a!=0 & r=0 & in -> (a'=0) & (send'=true) & (w6'=true);
+ // fly out of the waypoint via any angle point
+ [go] w!=0 & a=0 & r=0 -> 1/8:(a'=1) & (in'=false)
+ + 1/8:(a'=2) & (in'=false)
+ + 1/8:(a'=3) & (in'=false)
+ + 1/8:(a'=4) & (in'=false)
+ + 1/8:(a'=5) & (in'=false)
+ + 1/8:(a'=6) & (in'=false)
+ + 1/8:(a'=7) & (in'=false)
+ + 1/8:(a'=8) & (in'=false);
+
+
+ // UAV flying plans (based on the road map)
+ // check points: receiving commands from the operator
+ // w2 -> r5 |r6 |r7 |r9
+ [fly] c=0 & w=2 & (a!=0) & r=0 & !in -> (r'=5);
+ [fly] c=1 & w=2 & (a!=0) & r=0 & !in -> (r'=6);
+ [fly] c=2 & w=2 & (a!=0) & r=0 & !in -> (r'=7);
+ [fly] c=3 & w=2 & (a!=0) & r=0 & !in -> (r'=9);
+ // w5 -> r3 | r4 | w4 (at any angle point)
+ [fly] c=0 & w=5 & (a!=0) & r=0 & !in -> (r'=3);
+ [fly] c=1 & w=5 & (a!=0) & r=0 & !in -> (r'=4);
+ [fly] c=2 & w=5 & (a!=0) & r=0 & !in -> 1/8:(w'=4) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=8) & (r'=0) & (in'=true);
+ // w6 -> r2 | r3 |r8
+ [fly] c=0 & w=6 & (a!=0) & r=0 & !in -> (r'=2);
+ [fly] c=1 & w=6 & (a!=0) & r=0 & !in -> (r'=3);
+ [fly] c=2 & w=6 & (a!=0) & r=0 & !in -> (r'=8);
+
+ // non check points: fly autonomy
+ // w1 -> r1 | r9
+ [fly] w=1 & (a!=0) & r=0 & !in -> (r'=1);
+ [fly] w=1 & (a!=0) & r=0 & !in -> (r'=9);
+ // w3 -> r6 | w4 (any angle point)
+ [fly] w=3 & (a!=0) & r=0 & !in -> (r'=6);
+ [fly] w=3 & (a!=0) & r=0 & !in -> 1/8:(w'=4) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=4) & (a'=8) & (r'=0) & (in'=true);
+
+ // w4 -> w3 | w5
+ [fly] w=4 & (a!=0) & r=0 & !in -> 1/8:(w'=3) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=8) & (r'=0) & (in'=true);
+
+ [fly] w=4 & (a!=0) & r=0 & !in -> 1/8:(w'=5) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=8) & (r'=0) & (in'=true);
+ // r1 -> r2 | w1
+ [fly] r=1 -> (r'=2);
+ [fly] r=1 -> 1/8:(w'=1) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=8) & (r'=0) & (in'=true);
+ // r2 -> r1 | w6
+ [fly] r=2 -> (r'=1);
+ [fly] r=2 -> 1/8:(w'=6) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=8) & (r'=0) & (in'=true);
+ // r3 -> w5 | w6
+ [fly] r=3 -> 1/8:(w'=5) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=8) & (r'=0) & (in'=true);
+
+ [fly] r=3 -> 1/8:(w'=6) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=8) & (r'=0) & (in'=true);
+ // r4 -> r5 | w5
+ [fly] r=4 -> (r'=5);
+ [fly] r=4 -> 1/8:(w'=5) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=5) & (a'=8) & (r'=0) & (in'=true);
+ // r5 -> r4 | w2
+ [fly] r=5 -> (r'=4);
+ [fly] r=5 -> 1/8:(w'=2) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=8) & (r'=0) & (in'=true);
+ // r6 -> w2 | w3
+ [fly] r=6 -> 1/8:(w'=2) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=8) & (r'=0) & (in'=true);
+
+ [fly] r=6 -> 1/8:(w'=3) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=3) & (a'=8) & (r'=0) & (in'=true);
+ // r7 -> w2 | r8
+ [fly] r=7 -> 1/8:(w'=2) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=8) & (r'=0) & (in'=true);
+ [fly] r=7 -> (r'=8);
+ // r8 -> w6 | r7
+ [fly] r=8 -> 1/8:(w'=6) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=6) & (a'=8) & (r'=0) & (in'=true);
+ [fly] r=8 -> (r'=7);
+ // r9 -> w1 | w2
+ [fly] r=9 -> 1/8:(w'=1) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=1) & (a'=8) & (r'=0) & (in'=true);
+
+ [fly] r=9 -> 1/8:(w'=2) & (a'=1) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=2) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=3) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=4) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=5) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=6) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=7) & (r'=0) & (in'=true)
+ + 1/8:(w'=2) & (a'=8) & (r'=0) & (in'=true);
+
+endmodule
+
+
+rewards // flight time
+ [wait] true: 10;
+ [fly] true: 60;
+endrewards
+
+label "goal" = (w1&w2&w6);
\ No newline at end of file
diff --git a/hover-imdp.prism b/hover-imdp.prism
new file mode 100644
index 0000000000..cc872c56d9
--- /dev/null
+++ b/hover-imdp.prism
@@ -0,0 +1,51 @@
+mdp
+
+// UAV Altitude Control under Wind Uncertainty - Interval MDP
+// Discrete altitude band [0..MaxAlt], actions: inc, dec, maint
+
+const int MaxAlt = 20; // maximum altitude band
+const int StartAlt = 10; // initial altitude
+const int acceptable_error = 2;
+const int upper = StartAlt + acceptable_error;
+const int lower = StartAlt - acceptable_error;
+const int T = 10;
+
+// Safe altitude corridor: bands 3 through 7
+formula safe = (alt >= lower & alt <= upper);
+
+module UAV
+ alt : [0..MaxAlt] init StartAlt;
+ t : [0..T] init 0;
+
+ // Increase thrust: intended +2, plus wind disturbance
+ [inc] alt <= MaxAlt - 2 & (t < T) ->
+ [0.6,0.8] : (alt' = min(alt+2, MaxAlt)) & (t' = t + 1) +
+ [0.1,0.2] : (alt' = min(alt+1, MaxAlt)) & (t' = t + 1) +
+ [0.1,0.2] : (alt' = alt) & (t' = t + 1);
+
+ // Decrease thrust: intended -1, plus wind disturbance
+ [dec] alt >= 2 & (t < T) ->
+ [0.6,0.8] : (alt' = max(alt-2, 0)) +
+ [0.1,0.2] : (alt' = max(alt-1, 0)) +
+ [0.1,0.2] : (alt' = alt);
+
+ [stop_engine] alt > MaxAlt - 2 & (t < T) -> 1.0 : (alt' = max(alt-2, 0)) & (t' = t + 1);
+
+ [full_speed] alt >= 0 & alt < 2 -> 1.0 : (alt' = alt + 2) & (t' = t + 1);
+
+ // Maintain thrust: intended 0, plus wind disturbance
+ [maint] safe & (t < T) ->
+ [0.7,0.9] : (alt' = min(alt+1, MaxAlt)) & (t' = t + 1) +
+ [0.05,0.15] : (alt' = alt) & (t' = t + 1) +
+ [0.05,0.15] : (alt' = max(alt-1, 0)) & (t' = t + 1);
+
+ [done] t = T -> 1.0 : (t' = t + 1);
+ [stop] (t = T + 1) -> 1.0 : true;
+endmodule
+
+// Reward for staying in safe corridor vs. violation
+rewards "safety"
+ safe : 1;
+endrewards
+
+label "goal" = (t = T + 1);
\ No newline at end of file
diff --git a/kobe-log-robust+opt.txt b/kobe-log-robust+opt.txt
new file mode 100644
index 0000000000..4469398645
--- /dev/null
+++ b/kobe-log-robust+opt.txt
@@ -0,0 +1,71 @@
+PRISM
+=====
+
+Version: 4.8.1.dev
+Date: Tue Jun 10 23:10:06 EDT 2025
+Hostname: Khangs-MacBook-Pro.local
+Memory limits: cudd=1g, java(heap)=1g
+Command line: prism kobe-imdp.prism -pf '<<*>>{multi}R>5.2[C]' -mainlog log.txt
+
+Parsing PRISM model file "kobe-imdp.prism"...
+
+Type: IMDP
+Modules: robot
+Variables: s
+Labels: "goal"
+Rewards: 1
+
+1 property:
+(1) <<*>> {multi}R>5.2 [ C ]
+
+---------------------------------------------------------------------
+
+Model checking: <<*>> {multi}R>5.2 [ C ]
+
+Warning: Switching to explicit engine to allow model checking of interval model.
+
+Building model (engine:explicit)...
+
+Computing reachable states... 11 states
+Reachable states exploration and model construction done in 0.007 secs.
+Sorting reachable states list...
+
+Time for model construction: 0.021 seconds.
+
+Type: IMDP
+States: 11 (1 initial)
+Transitions: 29
+Choices: 15
+Max/avg: 2/1.36
+Building reward structure...
+Starting linear programming (min)...
+Calcualting multi Strategy under the assumption of worst transition per objective:
+Continuous Variables = 99, Integer Variables = 15, Constraints = 188
+Multi Strategy to Obtain at most under worst assumption of adversary 5.2
+0: south
+1: south
+2: south east
+3: south east
+4: south
+5: east
+6: east
+7: east
+8: east
+9: north
+10: stop
+It took 41 milli-seconds to finish synthesize the permissive strategy
+
+java.lang.ClassCastException: class java.lang.Double cannot be cast to class java.lang.Boolean (java.lang.Double and java.lang.Boolean are in module java.base of loader 'bootstrap')
+ at parser.ast.ExpressionFilter.applyForAll(ExpressionFilter.java:391)
+ at parser.ast.ExpressionFilter.apply(ExpressionFilter.java:226)
+ at explicit.StateModelChecker.checkExpressionFilter(StateModelChecker.java:1194)
+ at explicit.StateModelChecker.checkExpression(StateModelChecker.java:674)
+ at explicit.NonProbModelChecker.checkExpression(NonProbModelChecker.java:78)
+ at explicit.ProbModelChecker.checkExpression(ProbModelChecker.java:555)
+ at explicit.StateModelChecker.check(StateModelChecker.java:589)
+ at prism.Prism.modelCheck(Prism.java:3317)
+ at prism.PrismCL.run(PrismCL.java:441)
+ at prism.PrismCL.go(PrismCL.java:246)
+ at prism.PrismCL.main(PrismCL.java:3098)
+
+Error: Caught unhandled exception, aborting....
diff --git a/kobe-small.prism b/kobe-small.prism
new file mode 100644
index 0000000000..d07695664c
--- /dev/null
+++ b/kobe-small.prism
@@ -0,0 +1,51 @@
+mdp
+
+module robot
+ s : [0..10] init 0;
+
+ // at state 0: west is very reliable, south less so
+ [west] (s=0) -> [0.8,1.0]:(s'=1) + [0.0,0.2]: (s'=0);
+ [south] (s=0) -> [0.7,0.9]:(s'=3) + [0.1,0.3]: (s'=0);
+
+ // at state 1: south is quite noisy
+ [south] (s=1) -> [0.6,0.8]:(s'=2) + [0.2,0.4]:(s'=1);
+
+ // at state 2: east is moderately reliable; south is very reliable
+ [east] (s=2) -> [0.75,0.9]:(s'=3) + [0.1,0.25]:(s'=2);
+ [south] (s=2) -> [0.85,1.0]:(s'=5) + [0.0,0.15]:(s'=2);
+
+ // at state 3: east is less reliable, south more
+ [east] (s=3) -> [0.65,0.85]:(s'=4) + [0.15,0.35]:(s'=3);
+ [south] (s=3) -> [0.8,0.95]:(s'=6) + [0.05,0.2]:(s'=3);
+
+ // at state 4
+ [south] (s=4) -> [0.8,1.0]:(s'=7) + [0.0,0.2]:(s'=4);
+
+ // at state 5
+ [east] (s=5) -> [0.7,0.9]:(s'=6) + [0.1,0.3]:(s'=5);
+
+ // at state 6
+ [east] (s=6) -> [0.8,0.95]:(s'=7) + [0.05,0.2]:(s'=6);
+ [south] (s=6) -> [0.6,0.8]:(s'=8) + [0.2,0.4]:(s'=6);
+
+ // at state 7
+ [east] (s=7) -> [0.85,1.0]:(s'=10) + [0.0,0.15]:(s'=7);
+
+ // at state 8
+ [east] (s=8) -> [0.7,0.9]:(s'=9) + [0.1,0.3]:(s'=8);
+
+ // at state 9
+ [north] (s=9) -> [0.8,0.9]:(s'=7) + [0.1,0.2]:(s'=9);
+
+ // stop at destination
+ [stop] (s=10) -> true;
+endmodule
+
+label "goal" = (s=10);
+
+rewards
+ [west] true: 1;
+ [south] true: 1;
+ [east] true: 1;
+ [north] true: 1;
+endrewards
diff --git a/log.txt2 b/log.txt2
new file mode 100644
index 0000000000..127df9f818
--- /dev/null
+++ b/log.txt2
@@ -0,0 +1,171 @@
+PRISM
+=====
+
+Version: 4.8.1.dev
+Date: Tue Jul 01 03:10:02 EDT 2025
+Hostname: Khangs-MacBook-Pro.local
+Memory limits: cudd=1g, java(heap)=1g
+Command line: prism kobe-imdp.prism -pf '<<*>>{multi}R>5200[C]' -mainlog log.txt2
+
+Parsing PRISM model file "kobe-imdp.prism"...
+
+Type: IMDP
+Modules: robot
+Variables: loc step
+Labels: "goal"
+Rewards: 1
+
+1 property:
+(1) <<*>> {multi}R>5200 [ C ]
+
+---------------------------------------------------------------------
+
+Model checking: <<*>> {multi}R>5200 [ C ]
+
+Warning: Switching to explicit engine to allow model checking of interval model.
+
+Building model (engine:explicit)...
+
+Computing reachable states... 111 states
+Reachable states exploration and model construction done in 0.027 secs.
+Sorting reachable states list...
+
+Time for model construction: 0.042 seconds.
+
+Type: IMDP
+States: 111 (1 initial)
+Transitions: 777
+Choices: 389
+Max/avg: 4/3.50
+Building reward structure...
+Starting linear programming (min)...
+Calcualting multi Strategy under the assumption of worst transition per objective:
+Continuous Variables = 2443, Integer Variables = 389, Constraints = 4776
+Multi Strategy to Obtain at most under worst assumption of adversary 5200.0
+0: west south
+1: west south east north
+2: west south east north
+3: west south east north
+4: west south east north
+5: west south east north
+6: west south east north
+7: west south east north
+8: west south east north
+9: west south east north
+10: west south
+11: south
+12: west south east north
+13: west south east north
+14: west south east north
+15: west south east north
+16: west south east north
+17: west south east north
+18: west south east north
+19: west south east north
+20: west south east north
+21: south
+22: south east
+23: west south east north
+24: west south east north
+25: west south east north
+26: west south east north
+27: west south east north
+28: west south east north
+29: west south east north
+30: west south east north
+31: west south east north
+32: south east
+33: south east
+34: west south east north
+35: west south east north
+36: west south east north
+37: west south east north
+38: west south east north
+39: west south east north
+40: west south east north
+41: west south east north
+42: west south east north
+43: south east
+44: south
+45: west south east north
+46: west south east north
+47: west south east north
+48: west south east north
+49: west south east north
+50: west south east north
+51: west south east north
+52: west south east north
+53: west south east north
+54: south
+55: east
+56: west south east north
+57: west south east north
+58: west south east north
+59: west south east north
+60: west south east north
+61: west south east north
+62: west south east north
+63: west south east north
+64: west south east north
+65: east
+66: south east
+67: west south east north
+68: west south east north
+69: west south east north
+70: west south east north
+71: west south east north
+72: west south east north
+73: west south east north
+74: west south east north
+75: west south east north
+76: south east
+77: east
+78: west south east north
+79: west south east north
+80: west south east north
+81: west south east north
+82: west south east north
+83: west south east north
+84: west south east north
+85: west south east north
+86: west south east north
+87: east
+88: east
+89: west south east north
+90: west south east north
+91: west south east north
+92: west south east north
+93: west south east north
+94: west south east north
+95: west south east north
+96: west south east north
+97: west south east north
+98: east
+99: north
+100: west south east north
+101: west south east north
+102: west south east north
+103: west south east north
+104: west south east north
+105: west south east north
+106: west south east north
+107: west south east north
+108: west south east north
+109: north
+110: stop
+It took 69 milli-seconds to finish synthesize the permissive strategy
+
+java.lang.ClassCastException: class java.lang.Double cannot be cast to class java.lang.Boolean (java.lang.Double and java.lang.Boolean are in module java.base of loader 'bootstrap')
+ at parser.ast.ExpressionFilter.applyForAll(ExpressionFilter.java:391)
+ at parser.ast.ExpressionFilter.apply(ExpressionFilter.java:226)
+ at explicit.StateModelChecker.checkExpressionFilter(StateModelChecker.java:1194)
+ at explicit.StateModelChecker.checkExpression(StateModelChecker.java:674)
+ at explicit.NonProbModelChecker.checkExpression(NonProbModelChecker.java:78)
+ at explicit.ProbModelChecker.checkExpression(ProbModelChecker.java:555)
+ at explicit.StateModelChecker.check(StateModelChecker.java:589)
+ at prism.Prism.modelCheck(Prism.java:3317)
+ at prism.PrismCL.run(PrismCL.java:441)
+ at prism.PrismCL.go(PrismCL.java:246)
+ at prism.PrismCL.main(PrismCL.java:3098)
+
+Error: Caught unhandled exception, aborting....
diff --git a/naive_e005.lp b/naive_e005.lp
new file mode 100644
index 0000000000..8be37f13ba
--- /dev/null
+++ b/naive_e005.lp
@@ -0,0 +1,36 @@
+\ LP format - for model browsing. Use MPS format to capture full model detail.
+\ Signature: 0x4dfdf1b6b4a61f7c
+Minimize
+ 0 mu[2] - eta-0-0 - eta-0-1 - eta-1-0 - eta-2-0 - eta-3-0 + 5 Constant
+Subject To
+ v-target: mu[3] = 1
+ v-no: mu[2] = 0
+ state-0-choice-0-combination-0: mu[0] - 0.95 mu[1] - 0.05 mu[2]
+ + 1.01 eta-0-0 <= 1.01
+ state-0-choice-0-combination-1: mu[0] - 0.85 mu[1] - 0.15 mu[2]
+ + 1.01 eta-0-0 <= 1.01
+ state-0-choice-1-combination-0: mu[0] - 0.73 mu[3] - 0.27 mu[2]
+ + 1.01 eta-0-1 <= 1.01
+ state-0-choice-1-combination-1: mu[0] - 0.83 mu[3] - 0.17 mu[2]
+ + 1.01 eta-0-1 <= 1.01
+ state-1-choice-0-combination-0: mu[1] - 0.85 mu[3] - 0.15 mu[2]
+ + 1.01 eta-1-0 <= 1.01
+ state-1-choice-0-combination-1: mu[1] - 0.95 mu[3] - 0.05 mu[2]
+ + 1.01 eta-1-0 <= 1.01
+ state-2-choice-0-combination-0: 1.01 eta-2-0 <= 1.01
+ state-3-choice-0-combination-0: 1.01 eta-3-0 <= 1.01
+ actSel-0: eta-0-0 + eta-0-1 >= 1
+ actSel-1: eta-1-0 >= 1
+ actSel-2: eta-2-0 >= 1
+ actSel-3: eta-3-0 >= 1
+ multi-bound: mu[0] >= 0.65
+Bounds
+ mu[0] <= 1
+ mu[1] <= 1
+ mu[2] <= 1
+ mu[3] <= 1
+ mu[2] <= 1
+ Constant = 1
+Binaries
+ eta-0-0 eta-0-1 eta-1-0 eta-2-0 eta-3-0
+End
diff --git a/naive_e005_strat.txt b/naive_e005_strat.txt
new file mode 100644
index 0000000000..ed12f595a2
--- /dev/null
+++ b/naive_e005_strat.txt
@@ -0,0 +1,4 @@
+0: m f
+1: m
+2: trapped
+3: done
\ No newline at end of file
diff --git a/naive_e01.lp b/naive_e01.lp
new file mode 100644
index 0000000000..68cc0898f2
--- /dev/null
+++ b/naive_e01.lp
@@ -0,0 +1,34 @@
+\ LP format - for model browsing. Use MPS format to capture full model detail.
+\ Signature: 0x24c8caa659d02ef
+Minimize
+ 0 mu[2] - eta-0-0 - eta-0-1 - eta-1-0 - eta-2-0 - eta-3-0 + 5 Constant
+Subject To
+ v-target: mu[3] = 1
+ v-no: mu[2] = 0
+ state-0-choice-0-combination-0: mu[0] - mu[1] + 1.01 eta-0-0 <= 1.01
+ state-0-choice-0-combination-1: mu[0] - 0.8 mu[1] - 0.2 mu[2]
+ + 1.01 eta-0-0 <= 1.01
+ state-0-choice-1-combination-0: mu[0] - 0.68 mu[3] - 0.32 mu[2]
+ + 1.01 eta-0-1 <= 1.01
+ state-0-choice-1-combination-1: mu[0] - 0.88 mu[3] - 0.12 mu[2]
+ + 1.01 eta-0-1 <= 1.01
+ state-1-choice-0-combination-0: mu[1] - 0.8 mu[3] - 0.2 mu[2]
+ + 1.01 eta-1-0 <= 1.01
+ state-1-choice-0-combination-1: mu[1] - mu[3] + 1.01 eta-1-0 <= 1.01
+ state-2-choice-0-combination-0: 1.01 eta-2-0 <= 1.01
+ state-3-choice-0-combination-0: 1.01 eta-3-0 <= 1.01
+ actSel-0: eta-0-0 + eta-0-1 >= 1
+ actSel-1: eta-1-0 >= 1
+ actSel-2: eta-2-0 >= 1
+ actSel-3: eta-3-0 >= 1
+ multi-bound: mu[0] >= 0.65
+Bounds
+ mu[0] <= 1
+ mu[1] <= 1
+ mu[2] <= 1
+ mu[3] <= 1
+ mu[2] <= 1
+ Constant = 1
+Binaries
+ eta-0-0 eta-0-1 eta-1-0 eta-2-0 eta-3-0
+End
diff --git a/naive_e01_strat.txt b/naive_e01_strat.txt
new file mode 100644
index 0000000000..263c6ef829
--- /dev/null
+++ b/naive_e01_strat.txt
@@ -0,0 +1,4 @@
+0: f
+1: m
+2: trapped
+3: done
\ No newline at end of file
diff --git a/navigate-imdp.prism b/navigate-imdp.prism
new file mode 100644
index 0000000000..d535141958
--- /dev/null
+++ b/navigate-imdp.prism
@@ -0,0 +1,73 @@
+// Interval‐MDP Grid‐World with parameterizable trap
+mdp
+
+//–– Grid dimensions ––//
+const int width = 7; // width (number of columns)
+const int height = 7; // height (number of rows)
+
+//–– Special locations ––//
+// starting position:
+const int START_X = 0;
+const int START_Y = 0;
+// trap (you can move the trap by changing these):
+const int TRAP_X1 = 2;
+const int TRAP_Y1 = 1;
+
+const int TRAP_X2 = 3;
+const int TRAP_Y2 = 5;
+// goal:
+const int GOAL_X = 4;
+const int GOAL_Y = 4;
+
+// success probability intervals for motions:
+const double p_low = 0.7;
+const double p_high = 0.9;
+
+// formulas to detect special cells
+formula atStart = (x=START_X & y=START_Y);
+formula atTrap = (x=TRAP_X1 & y=TRAP_Y1) | (x=TRAP_X2 & y=TRAP_Y2);
+formula atGoal = (x=GOAL_X & y=GOAL_Y);
+
+// state variables: robot’s (x,y) coordinates
+module robot
+ x : [0..width-1] init START_X;
+ y : [0..height-1] init START_Y;
+
+ // if in trap or goal, stay there (absorbing)
+ [crash] atTrap -> 1:true;
+ [done] atGoal -> 1:true;
+
+ // move up
+ [up] !atTrap & !atGoal & y < height-1 ->
+ [p_low, p_high]:(y'=y+1) +
+ [1-p_high, 1-p_low]:(y'=y);
+
+ // move down
+ [down] !atTrap & !atGoal & y > 0 ->
+ [p_low, p_high]:(y'=y-1) +
+ [1-p_high, 1-p_low]:(y'=y);
+
+ // move right
+ [right] !atTrap & !atGoal & x < width-1 ->
+ [p_low, p_high]:(x'=x+1) +
+ [1-p_high, 1-p_low]:(x'=x);
+
+ // move left
+ [left] !atTrap & !atGoal & x > 0 ->
+ [p_low, p_high]:(x'=x-1) +
+ [1-p_high, 1-p_low]:(x'=x);
+
+endmodule
+
+rewards
+ [crash] true : 10;
+ [up] true : 1;
+ [down] true : 1;
+ [left] true : 1;
+ [right] true : 1;
+endrewards
+
+// labels for properties
+label "Crash" = atTrap;
+label "goal" = atGoal;
+label "start" = atStart;
diff --git a/outgoing/test1.prism b/outgoing/test1.prism
new file mode 100644
index 0000000000..4f617afcb7
--- /dev/null
+++ b/outgoing/test1.prism
@@ -0,0 +1,25 @@
+mdp
+
+module OneOut_allLoPositive
+ // States: 0 initial; 1 goes to goal; 2 goes to sink; 3 goal; 4 sink
+ s : [0..4] init 0;
+
+ // Only one successor per action (prob must be 1 in any feasible assignment)
+ [a] s=0 -> [0.90,1.00] : (s'=1);
+ [b] s=0 -> [0.90,1.00] : (s'=2);
+
+ // Route to absorbing goal/sink
+ [t1] s=1 -> (s'=3);
+ [t2] s=2 -> (s'=4);
+
+ [end1] s=3 -> (s'=3); // goal
+ [end2] s=4 -> (s'=4); // sink
+endmodule
+
+rewards
+ [a] true : 1;
+ [b] true : 1;
+endrewards
+
+label "goal" = s=3;
+label "Crash" = s=4;
diff --git a/outgoing/test10.prism b/outgoing/test10.prism
new file mode 100644
index 0000000000..383a6e0ee0
--- /dev/null
+++ b/outgoing/test10.prism
@@ -0,0 +1,66 @@
+mdp
+
+module TenOut_allLoPositive
+ // States: 0 initial; 1..6 lead to goal; 7..10 lead to sink; 11 goal; 12 sink
+ s : [0..12] init 0;
+
+ // -------- action a --------
+ // lo(goal)=6*0.02=0.12, lo(sink)=4*0.03=0.12 → sum lo = 0.24 ≤ 1
+ // hi(sink)=4*0.20 = 0.80 → Pmin(goal) ≥ max(sum_lo_goal, 1 - sum_hi_sink)
+ // = max(0.12, 1-0.80) = 0.20
+ [a] s=0 ->
+ // 6 goal-ward successors
+ [0.02,0.25] : (s'=1) +
+ [0.02,0.25] : (s'=2) +
+ [0.02,0.25] : (s'=3) +
+ [0.02,0.25] : (s'=4) +
+ [0.02,0.25] : (s'=5) +
+ [0.02,0.25] : (s'=6) +
+ // 4 sink-ward successors
+ [0.03,0.20] : (s'=7) +
+ [0.03,0.20] : (s'=8) +
+ [0.03,0.20] : (s'=9) +
+ [0.03,0.20] : (s'=10);
+
+ // -------- action b --------
+ // lo(goal)=6*0.03=0.18, lo(sink)=4*0.02=0.08 → sum lo = 0.26 ≤ 1
+ // hi(sink)=4*0.15=0.60 → Pmin(goal) ≥ max(0.18, 1-0.60)=0.40
+ [b] s=0 ->
+ // 6 goal-ward successors
+ [0.03,0.25] : (s'=1) +
+ [0.03,0.25] : (s'=2) +
+ [0.03,0.25] : (s'=3) +
+ [0.03,0.25] : (s'=4) +
+ [0.03,0.25] : (s'=5) +
+ [0.03,0.25] : (s'=6) +
+ // 4 sink-ward successors
+ [0.02,0.15] : (s'=7) +
+ [0.02,0.15] : (s'=8) +
+ [0.02,0.15] : (s'=9) +
+ [0.02,0.15] : (s'=10);
+
+ // Route successors
+ [t1] s=1 -> (s'=11);
+ [t1] s=2 -> (s'=11);
+ [t1] s=3 -> (s'=11);
+ [t1] s=4 -> (s'=11);
+ [t1] s=5 -> (s'=11);
+ [t1] s=6 -> (s'=11);
+ [t2] s=7 -> (s'=12);
+ [t2] s=8 -> (s'=12);
+ [t2] s=9 -> (s'=12);
+ [t2] s=10 -> (s'=12);
+
+ // Absorbing goal/sink
+ [end1] s=11 -> (s'=11);
+ [end2] s=12 -> (s'=12);
+endmodule
+
+rewards
+ [a] true : 1;
+ [b] true : 1;
+endrewards
+
+label "goal" = s=11;
+label "Crash" = s=12;
+
diff --git a/outgoing/test15.prism b/outgoing/test15.prism
new file mode 100644
index 0000000000..aff36e510b
--- /dev/null
+++ b/outgoing/test15.prism
@@ -0,0 +1,76 @@
+mdp
+
+module Fifteen
+ // 0 = initial; 1..15 = uncertain successors; 16 = goal; 17 = sink
+ s : [0..17] init 0;
+
+ // ---- Action a: one heavy, two medium, rest small
+ // lo sum = 0.30 + 2*0.05 + 12*0.02 = 0.64 <= 1
+ // hi sum = 0.60 + 2*0.25 + 12*0.12 = 2.54 >= 1
+ [a] s=0 ->
+ [0.30,0.60] : (s'=1) +
+ [0.05,0.25] : (s'=2) +
+ [0.05,0.25] : (s'=3) +
+ [0.02,0.12] : (s'=4) +
+ [0.02,0.12] : (s'=5) +
+ [0.02,0.12] : (s'=6) +
+ [0.02,0.12] : (s'=7) +
+ [0.02,0.12] : (s'=8) +
+ [0.02,0.12] : (s'=9) +
+ [0.02,0.12] : (s'=10) +
+ [0.02,0.12] : (s'=11) +
+ [0.02,0.12] : (s'=12) +
+ [0.02,0.12] : (s'=13) +
+ [0.02,0.12] : (s'=14) +
+ [0.02,0.12] : (s'=15);
+
+ // ---- Action b: two “heads” elsewhere, many smalls (different shape)
+ // lo sum = 2*0.12 + 13*0.01 = 0.37 <= 1
+ // hi sum = 2*0.32 + 13*0.09 = 1.81 >= 1
+ [b] s=0 ->
+ [0.01,0.09] : (s'=1) +
+ [0.01,0.09] : (s'=2) +
+ [0.01,0.09] : (s'=3) +
+ [0.01,0.09] : (s'=4) +
+ [0.01,0.09] : (s'=5) +
+ [0.01,0.09] : (s'=6) +
+ [0.01,0.09] : (s'=7) +
+ [0.12,0.32] : (s'=8) + // head #1 placed away from action a's heavy
+ [0.12,0.32] : (s'=9) + // head #2
+ [0.01,0.09] : (s'=10) +
+ [0.01,0.09] : (s'=11) +
+ [0.01,0.09] : (s'=12) +
+ [0.01,0.09] : (s'=13) +
+ [0.01,0.09] : (s'=14) +
+ [0.01,0.09] : (s'=15);
+
+ // successors: 1..6 -> goal, 7..15 -> sink
+ [t1] s=1 -> (s'=16);
+ [t1] s=2 -> (s'=16);
+ [t1] s=3 -> (s'=16);
+ [t1] s=4 -> (s'=16);
+ [t1] s=5 -> (s'=16);
+ [t1] s=6 -> (s'=16);
+
+ [t2] s=7 -> (s'=17);
+ [t2] s=8 -> (s'=17);
+ [t2] s=9 -> (s'=17);
+ [t2] s=10 -> (s'=17);
+ [t2] s=11 -> (s'=17);
+ [t2] s=12 -> (s'=17);
+ [t2] s=13 -> (s'=17);
+ [t2] s=14 -> (s'=17);
+ [t2] s=15 -> (s'=17);
+
+ // absorbing goal/sink
+ [end1] s=16 -> (s'=16);
+ [end2] s=17 -> (s'=17);
+endmodule
+
+label "goal" = s=16;
+label "Crash" = s=17;
+
+rewards
+ [a] true : 1;
+ [b] true : 1;
+endrewards
diff --git a/outgoing/test20.prism b/outgoing/test20.prism
new file mode 100644
index 0000000000..7ce414e10f
--- /dev/null
+++ b/outgoing/test20.prism
@@ -0,0 +1,77 @@
+mdp
+
+module TwentyOut_allLoPositive
+ // 0 initial; 1..12 to goal; 13..20 to sink; 21 goal; 22 sink
+ s : [0..22] init 0;
+
+ // --- action a ---
+ // lo(goal)=12*0.01=0.12; hi(sink)=8*0.08=0.64 → Pmin(goal) ≥ max(0.12, 0.36)=0.36
+ [a] s=0 ->
+ // 12 goal-ward
+ [0.01,0.10] : (s'=1) +
+ [0.01,0.10] : (s'=2) +
+ [0.01,0.10] : (s'=3) +
+ [0.01,0.10] : (s'=4) +
+ [0.01,0.10] : (s'=5) +
+ [0.01,0.10] : (s'=6) +
+ [0.01,0.10] : (s'=7) +
+ [0.01,0.10] : (s'=8) +
+ [0.01,0.10] : (s'=9) +
+ [0.01,0.10] : (s'=10) +
+ [0.01,0.10] : (s'=11) +
+ [0.01,0.10] : (s'=12) +
+ // 8 sink-ward
+ [0.02,0.08] : (s'=13) +
+ [0.02,0.08] : (s'=14) +
+ [0.02,0.08] : (s'=15) +
+ [0.02,0.08] : (s'=16) +
+ [0.02,0.08] : (s'=17) +
+ [0.02,0.08] : (s'=18) +
+ [0.02,0.08] : (s'=19) +
+ [0.02,0.08] : (s'=20);
+
+ // --- action b ---
+ // lo(goal)=12*0.015=0.18; hi(sink)=8*0.05=0.40 → Pmin(goal) ≥ max(0.18, 0.60)=0.60
+ [b] s=0 ->
+ // 12 goal-ward
+ [0.015,0.11] : (s'=1) +
+ [0.015,0.11] : (s'=2) +
+ [0.015,0.11] : (s'=3) +
+ [0.015,0.11] : (s'=4) +
+ [0.015,0.11] : (s'=5) +
+ [0.015,0.11] : (s'=6) +
+ [0.015,0.11] : (s'=7) +
+ [0.015,0.11] : (s'=8) +
+ [0.015,0.11] : (s'=9) +
+ [0.015,0.11] : (s'=10) +
+ [0.015,0.11] : (s'=11) +
+ [0.015,0.11] : (s'=12) +
+ // 8 sink-ward
+ [0.01,0.05] : (s'=13) +
+ [0.01,0.05] : (s'=14) +
+ [0.01,0.05] : (s'=15) +
+ [0.01,0.05] : (s'=16) +
+ [0.01,0.05] : (s'=17) +
+ [0.01,0.05] : (s'=18) +
+ [0.01,0.05] : (s'=19) +
+ [0.01,0.05] : (s'=20);
+
+ // Route successors
+ [t1] s=1 -> (s'=21); [t1] s=2 -> (s'=21); [t1] s=3 -> (s'=21); [t1] s=4 -> (s'=21);
+ [t1] s=5 -> (s'=21); [t1] s=6 -> (s'=21); [t1] s=7 -> (s'=21); [t1] s=8 -> (s'=21);
+ [t1] s=9 -> (s'=21); [t1] s=10 -> (s'=21); [t1] s=11 -> (s'=21); [t1] s=12 -> (s'=21);
+ [t2] s=13 -> (s'=22); [t2] s=14 -> (s'=22); [t2] s=15 -> (s'=22); [t2] s=16 -> (s'=22);
+ [t2] s=17 -> (s'=22); [t2] s=18 -> (s'=22); [t2] s=19 -> (s'=22); [t2] s=20 -> (s'=22);
+
+ // Absorbing
+ [end1] s=21 -> (s'=21);
+ [end2] s=22 -> (s'=22);
+endmodule
+
+rewards
+ [a] true : 1;
+ [b] true : 1;
+endrewards
+
+label "goal" = s=21;
+label "Crash" = s=22;
diff --git a/outgoing/test3.prism b/outgoing/test3.prism
new file mode 100644
index 0000000000..f88940dab4
--- /dev/null
+++ b/outgoing/test3.prism
@@ -0,0 +1,37 @@
+mdp
+
+module ThreeOut_allLoPositive
+ // 0 initial; 1,2 route to goal; 3 routes to sink; 4 goal; 5 sink
+ s : [0..5] init 0;
+
+ // --- action a ---
+ // lo(goal)=0.05+0.05=0.10; hi(sink)=0.60 -> Pmin(goal) ≥ max(0.10, 1-0.60=0.40)=0.40
+ [a] s=0 ->
+ [0.05,0.50] : (s'=1) +
+ [0.05,0.50] : (s'=2) +
+ [0.02,0.60] : (s'=3);
+
+ // --- action b ---
+ // lo(goal)=0.06+0.06=0.12; hi(sink)=0.30 -> Pmin(goal) ≥ max(0.12, 0.70)=0.70
+ [b] s=0 ->
+ [0.06,0.60] : (s'=1) +
+ [0.06,0.60] : (s'=2) +
+ [0.02,0.30] : (s'=3);
+
+ // Route successors
+ [] s=1 -> (s'=4);
+ [] s=2 -> (s'=4);
+ [] s=3 -> (s'=5);
+
+ // Absorbing
+ [] s=4 -> (s'=4);
+ [] s=5 -> (s'=5);
+endmodule
+
+rewards
+ [a] true : 1;
+ [b] true : 1;
+endrewards
+
+label "goal" = s=4;
+label "Crash" = s=5;
diff --git a/outgoing/test5.prism b/outgoing/test5.prism
new file mode 100644
index 0000000000..65aadab3cb
--- /dev/null
+++ b/outgoing/test5.prism
@@ -0,0 +1,43 @@
+mdp
+
+module FiveOut_allLoPositive
+ // States: 0 initial; 1..3 goal-ward; 4..5 sink-ward; 6 goal; 7 sink
+ s : [0..7] init 0;
+
+ // Action a: max sink mass = 0.90 ⇒ Pmin(goal) ≥ 0.10
+ [a] s=0 ->
+ [0.02,0.50] : (s'=1) + // goal
+ [0.02,0.30] : (s'=2) + // goal
+ [0.02,0.30] : (s'=3) + // goal
+ [0.10,0.45] : (s'=4) + // sink
+ [0.10,0.45] : (s'=5); // sink
+ // Feasible: sum lo = 0.26 ≤ 1 ≤ sum hi = 2.00
+
+ // Action b: max sink mass = 0.75 ⇒ Pmin(goal) ≥ 0.25
+ [b] s=0 ->
+ [0.05,0.35] : (s'=1) + // goal
+ [0.05,0.30] : (s'=2) + // goal
+ [0.05,0.30] : (s'=3) + // goal
+ [0.05,0.35] : (s'=4) + // sink
+ [0.05,0.40] : (s'=5); // sink
+ // Feasible: sum lo = 0.25 ≤ 1 ≤ sum hi = 1.70
+
+ // Route successors
+ [t1] s=1 -> (s'=6);
+ [t1] s=2 -> (s'=6);
+ [t1] s=3 -> (s'=6);
+ [t2] s=4 -> (s'=7);
+ [t2] s=5 -> (s'=7);
+
+ // Absorbing goal/sink
+ [end1] s=6 -> (s'=6);
+ [end2] s=7 -> (s'=7);
+endmodule
+
+label "goal" = s=6;
+label "Crash" = s=7;
+
+rewards
+ [a] true : 1;
+ [b] true : 1;
+endrewards
diff --git a/outgoing/test8.prism b/outgoing/test8.prism
new file mode 100644
index 0000000000..db1454b96a
--- /dev/null
+++ b/outgoing/test8.prism
@@ -0,0 +1,52 @@
+mdp
+
+module EightOut_allLoPositive
+ // 0 initial; 1..5 to goal; 6..8 to sink; 9 goal; 10 sink
+ s : [0..10] init 0;
+
+ // --- action a ---
+ // lo(goal)=5*0.02=0.10; hi(sink)=3*0.25=0.75 → Pmin(goal) ≥ max(0.10, 0.25)=0.25
+ [a] s=0 ->
+ [0.02,0.20] : (s'=1) +
+ [0.02,0.20] : (s'=2) +
+ [0.02,0.20] : (s'=3) +
+ [0.02,0.20] : (s'=4) +
+ [0.02,0.20] : (s'=5) +
+ [0.03,0.25] : (s'=6) +
+ [0.03,0.25] : (s'=7) +
+ [0.03,0.25] : (s'=8);
+
+ // --- action b ---
+ // lo(goal)=5*0.03=0.15; hi(sink)=3*0.15=0.45 → Pmin(goal) ≥ max(0.15, 0.55)=0.55
+ [b] s=0 ->
+ [0.03,0.22] : (s'=1) +
+ [0.03,0.22] : (s'=2) +
+ [0.03,0.22] : (s'=3) +
+ [0.03,0.22] : (s'=4) +
+ [0.03,0.22] : (s'=5) +
+ [0.02,0.15] : (s'=6) +
+ [0.02,0.15] : (s'=7) +
+ [0.02,0.15] : (s'=8);
+
+ // Route successors
+ [t1] s=1 -> (s'=9);
+ [t1] s=2 -> (s'=9);
+ [t1] s=3 -> (s'=9);
+ [t1] s=4 -> (s'=9);
+ [t1] s=5 -> (s'=9);
+ [t2] s=6 -> (s'=10);
+ [t2] s=7 -> (s'=10);
+ [t2] s=8 -> (s'=10);
+
+ // Absorbing
+ [end1] s=9 -> (s'=9);
+ [end2] s=10 -> (s'=10);
+endmodule
+
+rewards
+ [a] true : 1;
+ [b] true : 1;
+endrewards
+
+label "goal" = s=9;
+label "Crash" = s=10;
diff --git a/ov b/ov
new file mode 100644
index 0000000000..f0e2beab68
--- /dev/null
+++ b/ov
@@ -0,0 +1,2263 @@
+digraph IMDP {
+node [label="",shape="box"];
+0 [label="0"];
+0 -> n0_0 [label="0:choose_e",arrowhead="none"];
+n0_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n0_0 -> 0 [label="[0.09999999999999998,0.2999999999999999]"];
+n0_0 -> 3 [label="[0.7000000000000001,0.9]"];
+0 -> n0_1 [label="1:choose_s",arrowhead="none"];
+n0_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n0_1 -> 0 [label="[0.09999999999999998,0.2999999999999999]"];
+n0_1 -> 4 [label="[0.7000000000000001,0.9]"];
+1 [label="1"];
+1 -> n1_0 [label="0:choose_e",arrowhead="none"];
+n1_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n1_0 -> 1 [label="[0.09999999999999998,0.2999999999999999]"];
+n1_0 -> 3 [label="[0.7000000000000001,0.9]"];
+1 -> n1_1 [label="1:choose_s",arrowhead="none"];
+n1_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n1_1 -> 1 [label="[0.09999999999999998,0.2999999999999999]"];
+n1_1 -> 4 [label="[0.7000000000000001,0.9]"];
+2 [label="2"];
+2 -> n2_0 [label="0:choose_e",arrowhead="none"];
+n2_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n2_0 -> 2 [label="[0.09999999999999998,0.2999999999999999]"];
+n2_0 -> 3 [label="[0.7000000000000001,0.9]"];
+2 -> n2_1 [label="1:choose_s",arrowhead="none"];
+n2_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n2_1 -> 2 [label="[0.09999999999999998,0.2999999999999999]"];
+n2_1 -> 4 [label="[0.7000000000000001,0.9]"];
+3 [label="3"];
+3 -> n3_0 [label="0:forward",arrowhead="none"];
+n3_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n3_0 -> 5 [label="[1,1]"];
+4 [label="4"];
+4 -> n4_0 [label="0:forward",arrowhead="none"];
+n4_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n4_0 -> 6 [label="[1,1]"];
+5 [label="5"];
+5 -> n5_0 [label="0:forward",arrowhead="none"];
+n5_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n5_0 -> 7 [label="[1,1]"];
+6 [label="6"];
+6 -> n6_0 [label="0:forward",arrowhead="none"];
+n6_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n6_0 -> 8 [label="[1,1]"];
+7 [label="7"];
+7 -> n7_0 [label="0:forward",arrowhead="none"];
+n7_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n7_0 -> 9 [label="[1,1]"];
+8 [label="8"];
+8 -> n8_0 [label="0:forward",arrowhead="none"];
+n8_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n8_0 -> 10 [label="[1,1]"];
+9 [label="9"];
+9 -> n9_0 [label="0:arrive",arrowhead="none"];
+n9_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n9_0 -> 9 [label="[0.09999999999999998,0.2999999999999999]"];
+n9_0 -> 66 [label="[0.7000000000000001,0.9]"];
+10 [label="10"];
+10 -> n10_0 [label="0:arrive",arrowhead="none"];
+n10_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n10_0 -> 10 [label="[0.09999999999999998,0.2999999999999999]"];
+n10_0 -> 11 [label="[0.7000000000000001,0.9]"];
+11 [label="11"];
+11 -> n11_0 [label="0:choose_e",arrowhead="none"];
+n11_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n11_0 -> 11 [label="[0.09999999999999998,0.2999999999999999]"];
+n11_0 -> 14 [label="[0.7000000000000001,0.9]"];
+11 -> n11_1 [label="1:choose_s",arrowhead="none"];
+n11_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n11_1 -> 11 [label="[0.09999999999999998,0.2999999999999999]"];
+n11_1 -> 15 [label="[0.7000000000000001,0.9]"];
+11 -> n11_2 [label="2:choose_n",arrowhead="none"];
+n11_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n11_2 -> 11 [label="[0.09999999999999998,0.2999999999999999]"];
+n11_2 -> 16 [label="[0.7000000000000001,0.9]"];
+12 [label="12"];
+12 -> n12_0 [label="0:choose_e",arrowhead="none"];
+n12_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n12_0 -> 12 [label="[0.09999999999999998,0.2999999999999999]"];
+n12_0 -> 14 [label="[0.7000000000000001,0.9]"];
+12 -> n12_1 [label="1:choose_s",arrowhead="none"];
+n12_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n12_1 -> 12 [label="[0.09999999999999998,0.2999999999999999]"];
+n12_1 -> 15 [label="[0.7000000000000001,0.9]"];
+12 -> n12_2 [label="2:choose_n",arrowhead="none"];
+n12_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n12_2 -> 12 [label="[0.09999999999999998,0.2999999999999999]"];
+n12_2 -> 16 [label="[0.7000000000000001,0.9]"];
+13 [label="13"];
+13 -> n13_0 [label="0:choose_e",arrowhead="none"];
+n13_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n13_0 -> 13 [label="[0.09999999999999998,0.2999999999999999]"];
+n13_0 -> 14 [label="[0.7000000000000001,0.9]"];
+13 -> n13_1 [label="1:choose_s",arrowhead="none"];
+n13_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n13_1 -> 13 [label="[0.09999999999999998,0.2999999999999999]"];
+n13_1 -> 15 [label="[0.7000000000000001,0.9]"];
+13 -> n13_2 [label="2:choose_n",arrowhead="none"];
+n13_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n13_2 -> 13 [label="[0.09999999999999998,0.2999999999999999]"];
+n13_2 -> 16 [label="[0.7000000000000001,0.9]"];
+14 [label="14"];
+14 -> n14_0 [label="0:forward",arrowhead="none"];
+n14_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n14_0 -> 17 [label="[1,1]"];
+15 [label="15"];
+15 -> n15_0 [label="0:forward",arrowhead="none"];
+n15_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n15_0 -> 18 [label="[1,1]"];
+16 [label="16"];
+16 -> n16_0 [label="0:forward",arrowhead="none"];
+n16_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n16_0 -> 19 [label="[1,1]"];
+17 [label="17"];
+17 -> n17_0 [label="0:forward",arrowhead="none"];
+n17_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n17_0 -> 20 [label="[1,1]"];
+18 [label="18"];
+18 -> n18_0 [label="0:forward",arrowhead="none"];
+n18_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n18_0 -> 21 [label="[1,1]"];
+19 [label="19"];
+19 -> n19_0 [label="0:forward",arrowhead="none"];
+n19_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n19_0 -> 22 [label="[1,1]"];
+20 [label="20"];
+20 -> n20_0 [label="0:forward",arrowhead="none"];
+n20_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n20_0 -> 23 [label="[1,1]"];
+21 [label="21"];
+21 -> n21_0 [label="0:forward",arrowhead="none"];
+n21_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n21_0 -> 24 [label="[1,1]"];
+22 [label="22"];
+22 -> n22_0 [label="0:forward",arrowhead="none"];
+n22_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n22_0 -> 25 [label="[1,1]"];
+23 [label="23"];
+23 -> n23_0 [label="0:arrive",arrowhead="none"];
+n23_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n23_0 -> 23 [label="[0.09999999999999998,0.2999999999999999]"];
+n23_0 -> 81 [label="[0.7000000000000001,0.9]"];
+24 [label="24"];
+24 -> n24_0 [label="0:arrive",arrowhead="none"];
+n24_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n24_0 -> 24 [label="[0.09999999999999998,0.2999999999999999]"];
+n24_0 -> 26 [label="[0.7000000000000001,0.9]"];
+25 [label="25"];
+25 -> n25_0 [label="0:arrive",arrowhead="none"];
+n25_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n25_0 -> 1 [label="[0.7000000000000001,0.9]"];
+n25_0 -> 25 [label="[0.09999999999999998,0.2999999999999999]"];
+26 [label="26"];
+26 -> n26_0 [label="0:choose_e",arrowhead="none"];
+n26_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n26_0 -> 26 [label="[0.09999999999999998,0.2999999999999999]"];
+n26_0 -> 29 [label="[0.7000000000000001,0.9]"];
+26 -> n26_1 [label="1:choose_s",arrowhead="none"];
+n26_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n26_1 -> 26 [label="[0.09999999999999998,0.2999999999999999]"];
+n26_1 -> 30 [label="[0.7000000000000001,0.9]"];
+26 -> n26_2 [label="2:choose_n",arrowhead="none"];
+n26_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n26_2 -> 26 [label="[0.09999999999999998,0.2999999999999999]"];
+n26_2 -> 31 [label="[0.7000000000000001,0.9]"];
+27 [label="27"];
+27 -> n27_0 [label="0:choose_e",arrowhead="none"];
+n27_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n27_0 -> 27 [label="[0.09999999999999998,0.2999999999999999]"];
+n27_0 -> 29 [label="[0.7000000000000001,0.9]"];
+27 -> n27_1 [label="1:choose_s",arrowhead="none"];
+n27_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n27_1 -> 27 [label="[0.09999999999999998,0.2999999999999999]"];
+n27_1 -> 30 [label="[0.7000000000000001,0.9]"];
+27 -> n27_2 [label="2:choose_n",arrowhead="none"];
+n27_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n27_2 -> 27 [label="[0.09999999999999998,0.2999999999999999]"];
+n27_2 -> 31 [label="[0.7000000000000001,0.9]"];
+28 [label="28"];
+28 -> n28_0 [label="0:choose_e",arrowhead="none"];
+n28_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n28_0 -> 28 [label="[0.09999999999999998,0.2999999999999999]"];
+n28_0 -> 29 [label="[0.7000000000000001,0.9]"];
+28 -> n28_1 [label="1:choose_s",arrowhead="none"];
+n28_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n28_1 -> 28 [label="[0.09999999999999998,0.2999999999999999]"];
+n28_1 -> 30 [label="[0.7000000000000001,0.9]"];
+28 -> n28_2 [label="2:choose_n",arrowhead="none"];
+n28_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n28_2 -> 28 [label="[0.09999999999999998,0.2999999999999999]"];
+n28_2 -> 31 [label="[0.7000000000000001,0.9]"];
+29 [label="29"];
+29 -> n29_0 [label="0:forward",arrowhead="none"];
+n29_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n29_0 -> 32 [label="[1,1]"];
+30 [label="30"];
+30 -> n30_0 [label="0:forward",arrowhead="none"];
+n30_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n30_0 -> 33 [label="[1,1]"];
+31 [label="31"];
+31 -> n31_0 [label="0:forward",arrowhead="none"];
+n31_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n31_0 -> 34 [label="[1,1]"];
+32 [label="32"];
+32 -> n32_0 [label="0:forward",arrowhead="none"];
+n32_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n32_0 -> 35 [label="[1,1]"];
+33 [label="33"];
+33 -> n33_0 [label="0:forward",arrowhead="none"];
+n33_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n33_0 -> 36 [label="[1,1]"];
+34 [label="34"];
+34 -> n34_0 [label="0:forward",arrowhead="none"];
+n34_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n34_0 -> 37 [label="[1,1]"];
+35 [label="35"];
+35 -> n35_0 [label="0:forward",arrowhead="none"];
+n35_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n35_0 -> 38 [label="[1,1]"];
+36 [label="36"];
+36 -> n36_0 [label="0:forward",arrowhead="none"];
+n36_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n36_0 -> 39 [label="[1,1]"];
+37 [label="37"];
+37 -> n37_0 [label="0:forward",arrowhead="none"];
+n37_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n37_0 -> 40 [label="[1,1]"];
+38 [label="38"];
+38 -> n38_0 [label="0:arrive",arrowhead="none"];
+n38_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n38_0 -> 38 [label="[0.09999999999999998,0.2999999999999999]"];
+n38_0 -> 101 [label="[0.7000000000000001,0.9]"];
+39 [label="39"];
+39 -> n39_0 [label="0:arrive",arrowhead="none"];
+n39_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n39_0 -> 39 [label="[0.09999999999999998,0.2999999999999999]"];
+n39_0 -> 41 [label="[0.7000000000000001,0.9]"];
+40 [label="40"];
+40 -> n40_0 [label="0:arrive",arrowhead="none"];
+n40_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n40_0 -> 12 [label="[0.7000000000000001,0.9]"];
+n40_0 -> 40 [label="[0.09999999999999998,0.2999999999999999]"];
+41 [label="41"];
+41 -> n41_0 [label="0:choose_e",arrowhead="none"];
+n41_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n41_0 -> 41 [label="[0.09999999999999998,0.2999999999999999]"];
+n41_0 -> 44 [label="[0.7000000000000001,0.9]"];
+41 -> n41_1 [label="1:choose_s",arrowhead="none"];
+n41_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n41_1 -> 41 [label="[0.09999999999999998,0.2999999999999999]"];
+n41_1 -> 45 [label="[0.7000000000000001,0.9]"];
+41 -> n41_2 [label="2:choose_n",arrowhead="none"];
+n41_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n41_2 -> 41 [label="[0.09999999999999998,0.2999999999999999]"];
+n41_2 -> 46 [label="[0.7000000000000001,0.9]"];
+42 [label="42"];
+42 -> n42_0 [label="0:choose_e",arrowhead="none"];
+n42_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n42_0 -> 42 [label="[0.09999999999999998,0.2999999999999999]"];
+n42_0 -> 44 [label="[0.7000000000000001,0.9]"];
+42 -> n42_1 [label="1:choose_s",arrowhead="none"];
+n42_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n42_1 -> 42 [label="[0.09999999999999998,0.2999999999999999]"];
+n42_1 -> 45 [label="[0.7000000000000001,0.9]"];
+42 -> n42_2 [label="2:choose_n",arrowhead="none"];
+n42_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n42_2 -> 42 [label="[0.09999999999999998,0.2999999999999999]"];
+n42_2 -> 46 [label="[0.7000000000000001,0.9]"];
+43 [label="43"];
+43 -> n43_0 [label="0:choose_e",arrowhead="none"];
+n43_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n43_0 -> 43 [label="[0.09999999999999998,0.2999999999999999]"];
+n43_0 -> 44 [label="[0.7000000000000001,0.9]"];
+43 -> n43_1 [label="1:choose_s",arrowhead="none"];
+n43_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n43_1 -> 43 [label="[0.09999999999999998,0.2999999999999999]"];
+n43_1 -> 45 [label="[0.7000000000000001,0.9]"];
+43 -> n43_2 [label="2:choose_n",arrowhead="none"];
+n43_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n43_2 -> 43 [label="[0.09999999999999998,0.2999999999999999]"];
+n43_2 -> 46 [label="[0.7000000000000001,0.9]"];
+44 [label="44"];
+44 -> n44_0 [label="0:forward",arrowhead="none"];
+n44_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n44_0 -> 47 [label="[1,1]"];
+45 [label="45"];
+45 -> n45_0 [label="0:forward",arrowhead="none"];
+n45_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n45_0 -> 48 [label="[1,1]"];
+46 [label="46"];
+46 -> n46_0 [label="0:forward",arrowhead="none"];
+n46_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n46_0 -> 49 [label="[1,1]"];
+47 [label="47"];
+47 -> n47_0 [label="0:forward",arrowhead="none"];
+n47_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n47_0 -> 50 [label="[1,1]"];
+48 [label="48"];
+48 -> n48_0 [label="0:forward",arrowhead="none"];
+n48_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n48_0 -> 51 [label="[1,1]"];
+49 [label="49"];
+49 -> n49_0 [label="0:forward",arrowhead="none"];
+n49_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n49_0 -> 52 [label="[1,1]"];
+50 [label="50"];
+50 -> n50_0 [label="0:forward",arrowhead="none"];
+n50_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n50_0 -> 53 [label="[1,1]"];
+51 [label="51"];
+51 -> n51_0 [label="0:forward",arrowhead="none"];
+n51_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n51_0 -> 54 [label="[1,1]"];
+52 [label="52"];
+52 -> n52_0 [label="0:forward",arrowhead="none"];
+n52_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n52_0 -> 55 [label="[1,1]"];
+53 [label="53"];
+53 -> n53_0 [label="0:arrive",arrowhead="none"];
+n53_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n53_0 -> 53 [label="[0.09999999999999998,0.2999999999999999]"];
+n53_0 -> 121 [label="[0.7000000000000001,0.9]"];
+54 [label="54"];
+54 -> n54_0 [label="0:arrive",arrowhead="none"];
+n54_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n54_0 -> 54 [label="[0.09999999999999998,0.2999999999999999]"];
+n54_0 -> 56 [label="[0.7000000000000001,0.9]"];
+55 [label="55"];
+55 -> n55_0 [label="0:arrive",arrowhead="none"];
+n55_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n55_0 -> 27 [label="[0.7000000000000001,0.9]"];
+n55_0 -> 55 [label="[0.09999999999999998,0.2999999999999999]"];
+56 [label="56"];
+56 -> n56_0 [label="0:choose_e",arrowhead="none"];
+n56_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n56_0 -> 56 [label="[0.09999999999999998,0.2999999999999999]"];
+n56_0 -> 58 [label="[0.7000000000000001,0.9]"];
+56 -> n56_1 [label="1:choose_n",arrowhead="none"];
+n56_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n56_1 -> 56 [label="[0.09999999999999998,0.2999999999999999]"];
+n56_1 -> 59 [label="[0.7000000000000001,0.9]"];
+57 [label="57"];
+57 -> n57_0 [label="0:choose_e",arrowhead="none"];
+n57_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n57_0 -> 57 [label="[0.09999999999999998,0.2999999999999999]"];
+n57_0 -> 58 [label="[0.7000000000000001,0.9]"];
+57 -> n57_1 [label="1:choose_n",arrowhead="none"];
+n57_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n57_1 -> 57 [label="[0.09999999999999998,0.2999999999999999]"];
+n57_1 -> 59 [label="[0.7000000000000001,0.9]"];
+58 [label="58"];
+58 -> n58_0 [label="0:forward",arrowhead="none"];
+n58_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n58_0 -> 60 [label="[1,1]"];
+59 [label="59"];
+59 -> n59_0 [label="0:forward",arrowhead="none"];
+n59_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n59_0 -> 61 [label="[1,1]"];
+60 [label="60"];
+60 -> n60_0 [label="0:forward",arrowhead="none"];
+n60_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n60_0 -> 62 [label="[1,1]"];
+61 [label="61"];
+61 -> n61_0 [label="0:forward",arrowhead="none"];
+n61_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n61_0 -> 63 [label="[1,1]"];
+62 [label="62"];
+62 -> n62_0 [label="0:forward",arrowhead="none"];
+n62_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n62_0 -> 64 [label="[1,1]"];
+63 [label="63"];
+63 -> n63_0 [label="0:forward",arrowhead="none"];
+n63_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n63_0 -> 65 [label="[1,1]"];
+64 [label="64"];
+64 -> n64_0 [label="0:arrive",arrowhead="none"];
+n64_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n64_0 -> 64 [label="[0.09999999999999998,0.2999999999999999]"];
+n64_0 -> 141 [label="[0.7000000000000001,0.9]"];
+65 [label="65"];
+65 -> n65_0 [label="0:arrive",arrowhead="none"];
+n65_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n65_0 -> 42 [label="[0.7000000000000001,0.9]"];
+n65_0 -> 65 [label="[0.09999999999999998,0.2999999999999999]"];
+66 [label="66"];
+66 -> n66_0 [label="0:choose_e",arrowhead="none"];
+n66_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n66_0 -> 66 [label="[0.09999999999999998,0.2999999999999999]"];
+n66_0 -> 69 [label="[0.7000000000000001,0.9]"];
+66 -> n66_1 [label="1:choose_s",arrowhead="none"];
+n66_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n66_1 -> 66 [label="[0.09999999999999998,0.2999999999999999]"];
+n66_1 -> 70 [label="[0.7000000000000001,0.9]"];
+66 -> n66_2 [label="2:choose_w",arrowhead="none"];
+n66_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n66_2 -> 66 [label="[0.09999999999999998,0.2999999999999999]"];
+n66_2 -> 71 [label="[0.7000000000000001,0.9]"];
+67 [label="67"];
+67 -> n67_0 [label="0:choose_e",arrowhead="none"];
+n67_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n67_0 -> 67 [label="[0.09999999999999998,0.2999999999999999]"];
+n67_0 -> 69 [label="[0.7000000000000001,0.9]"];
+67 -> n67_1 [label="1:choose_s",arrowhead="none"];
+n67_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n67_1 -> 67 [label="[0.09999999999999998,0.2999999999999999]"];
+n67_1 -> 70 [label="[0.7000000000000001,0.9]"];
+67 -> n67_2 [label="2:choose_w",arrowhead="none"];
+n67_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n67_2 -> 67 [label="[0.09999999999999998,0.2999999999999999]"];
+n67_2 -> 71 [label="[0.7000000000000001,0.9]"];
+68 [label="68"];
+68 -> n68_0 [label="0:choose_e",arrowhead="none"];
+n68_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n68_0 -> 68 [label="[0.09999999999999998,0.2999999999999999]"];
+n68_0 -> 69 [label="[0.7000000000000001,0.9]"];
+68 -> n68_1 [label="1:choose_s",arrowhead="none"];
+n68_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n68_1 -> 68 [label="[0.09999999999999998,0.2999999999999999]"];
+n68_1 -> 70 [label="[0.7000000000000001,0.9]"];
+68 -> n68_2 [label="2:choose_w",arrowhead="none"];
+n68_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n68_2 -> 68 [label="[0.09999999999999998,0.2999999999999999]"];
+n68_2 -> 71 [label="[0.7000000000000001,0.9]"];
+69 [label="69"];
+69 -> n69_0 [label="0:forward",arrowhead="none"];
+n69_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n69_0 -> 72 [label="[1,1]"];
+70 [label="70"];
+70 -> n70_0 [label="0:forward",arrowhead="none"];
+n70_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n70_0 -> 73 [label="[1,1]"];
+71 [label="71"];
+71 -> n71_0 [label="0:forward",arrowhead="none"];
+n71_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n71_0 -> 74 [label="[1,1]"];
+72 [label="72"];
+72 -> n72_0 [label="0:forward",arrowhead="none"];
+n72_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n72_0 -> 75 [label="[1,1]"];
+73 [label="73"];
+73 -> n73_0 [label="0:forward",arrowhead="none"];
+n73_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n73_0 -> 76 [label="[1,1]"];
+74 [label="74"];
+74 -> n74_0 [label="0:forward",arrowhead="none"];
+n74_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n74_0 -> 77 [label="[1,1]"];
+75 [label="75"];
+75 -> n75_0 [label="0:forward",arrowhead="none"];
+n75_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n75_0 -> 78 [label="[1,1]"];
+76 [label="76"];
+76 -> n76_0 [label="0:forward",arrowhead="none"];
+n76_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n76_0 -> 79 [label="[1,1]"];
+77 [label="77"];
+77 -> n77_0 [label="0:forward",arrowhead="none"];
+n77_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n77_0 -> 80 [label="[1,1]"];
+78 [label="78"];
+78 -> n78_0 [label="0:arrive",arrowhead="none"];
+n78_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n78_0 -> 78 [label="[0.09999999999999998,0.2999999999999999]"];
+n78_0 -> 155 [label="[0.7000000000000001,0.9]"];
+79 [label="79"];
+79 -> n79_0 [label="0:arrive",arrowhead="none"];
+n79_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n79_0 -> 79 [label="[0.09999999999999998,0.2999999999999999]"];
+n79_0 -> 82 [label="[0.7000000000000001,0.9]"];
+80 [label="80"];
+80 -> n80_0 [label="0:arrive",arrowhead="none"];
+n80_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n80_0 -> 2 [label="[0.7000000000000001,0.9]"];
+n80_0 -> 80 [label="[0.09999999999999998,0.2999999999999999]"];
+81 [label="81"];
+81 -> n81_0 [label="0:choose_e",arrowhead="none"];
+n81_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n81_0 -> 81 [label="[0.09999999999999998,0.2999999999999999]"];
+n81_0 -> 85 [label="[0.7000000000000001,0.9]"];
+81 -> n81_1 [label="1:choose_s",arrowhead="none"];
+n81_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n81_1 -> 81 [label="[0.09999999999999998,0.2999999999999999]"];
+n81_1 -> 86 [label="[0.7000000000000001,0.9]"];
+81 -> n81_2 [label="2:choose_n",arrowhead="none"];
+n81_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n81_2 -> 81 [label="[0.09999999999999998,0.2999999999999999]"];
+n81_2 -> 87 [label="[0.7000000000000001,0.9]"];
+81 -> n81_3 [label="3:choose_w",arrowhead="none"];
+n81_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n81_3 -> 81 [label="[0.09999999999999998,0.2999999999999999]"];
+n81_3 -> 88 [label="[0.7000000000000001,0.9]"];
+82 [label="82"];
+82 -> n82_0 [label="0:choose_e",arrowhead="none"];
+n82_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n82_0 -> 82 [label="[0.09999999999999998,0.2999999999999999]"];
+n82_0 -> 85 [label="[0.7000000000000001,0.9]"];
+82 -> n82_1 [label="1:choose_s",arrowhead="none"];
+n82_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n82_1 -> 82 [label="[0.09999999999999998,0.2999999999999999]"];
+n82_1 -> 86 [label="[0.7000000000000001,0.9]"];
+82 -> n82_2 [label="2:choose_n",arrowhead="none"];
+n82_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n82_2 -> 82 [label="[0.09999999999999998,0.2999999999999999]"];
+n82_2 -> 87 [label="[0.7000000000000001,0.9]"];
+82 -> n82_3 [label="3:choose_w",arrowhead="none"];
+n82_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n82_3 -> 82 [label="[0.09999999999999998,0.2999999999999999]"];
+n82_3 -> 88 [label="[0.7000000000000001,0.9]"];
+83 [label="83"];
+83 -> n83_0 [label="0:choose_e",arrowhead="none"];
+n83_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n83_0 -> 83 [label="[0.09999999999999998,0.2999999999999999]"];
+n83_0 -> 85 [label="[0.7000000000000001,0.9]"];
+83 -> n83_1 [label="1:choose_s",arrowhead="none"];
+n83_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n83_1 -> 83 [label="[0.09999999999999998,0.2999999999999999]"];
+n83_1 -> 86 [label="[0.7000000000000001,0.9]"];
+83 -> n83_2 [label="2:choose_n",arrowhead="none"];
+n83_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n83_2 -> 83 [label="[0.09999999999999998,0.2999999999999999]"];
+n83_2 -> 87 [label="[0.7000000000000001,0.9]"];
+83 -> n83_3 [label="3:choose_w",arrowhead="none"];
+n83_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n83_3 -> 83 [label="[0.09999999999999998,0.2999999999999999]"];
+n83_3 -> 88 [label="[0.7000000000000001,0.9]"];
+84 [label="84"];
+84 -> n84_0 [label="0:choose_e",arrowhead="none"];
+n84_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n84_0 -> 84 [label="[0.09999999999999998,0.2999999999999999]"];
+n84_0 -> 85 [label="[0.7000000000000001,0.9]"];
+84 -> n84_1 [label="1:choose_s",arrowhead="none"];
+n84_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n84_1 -> 84 [label="[0.09999999999999998,0.2999999999999999]"];
+n84_1 -> 86 [label="[0.7000000000000001,0.9]"];
+84 -> n84_2 [label="2:choose_n",arrowhead="none"];
+n84_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n84_2 -> 84 [label="[0.09999999999999998,0.2999999999999999]"];
+n84_2 -> 87 [label="[0.7000000000000001,0.9]"];
+84 -> n84_3 [label="3:choose_w",arrowhead="none"];
+n84_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n84_3 -> 84 [label="[0.09999999999999998,0.2999999999999999]"];
+n84_3 -> 88 [label="[0.7000000000000001,0.9]"];
+85 [label="85"];
+85 -> n85_0 [label="0:forward",arrowhead="none"];
+n85_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n85_0 -> 89 [label="[1,1]"];
+86 [label="86"];
+86 -> n86_0 [label="0:forward",arrowhead="none"];
+n86_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n86_0 -> 90 [label="[1,1]"];
+87 [label="87"];
+87 -> n87_0 [label="0:forward",arrowhead="none"];
+n87_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n87_0 -> 91 [label="[1,1]"];
+88 [label="88"];
+88 -> n88_0 [label="0:forward",arrowhead="none"];
+n88_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n88_0 -> 92 [label="[1,1]"];
+89 [label="89"];
+89 -> n89_0 [label="0:forward",arrowhead="none"];
+n89_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n89_0 -> 93 [label="[1,1]"];
+90 [label="90"];
+90 -> n90_0 [label="0:forward",arrowhead="none"];
+n90_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n90_0 -> 94 [label="[1,1]"];
+91 [label="91"];
+91 -> n91_0 [label="0:forward",arrowhead="none"];
+n91_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n91_0 -> 95 [label="[1,1]"];
+92 [label="92"];
+92 -> n92_0 [label="0:forward",arrowhead="none"];
+n92_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n92_0 -> 96 [label="[1,1]"];
+93 [label="93"];
+93 -> n93_0 [label="0:forward",arrowhead="none"];
+n93_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n93_0 -> 97 [label="[1,1]"];
+94 [label="94"];
+94 -> n94_0 [label="0:forward",arrowhead="none"];
+n94_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n94_0 -> 98 [label="[1,1]"];
+95 [label="95"];
+95 -> n95_0 [label="0:forward",arrowhead="none"];
+n95_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n95_0 -> 99 [label="[1,1]"];
+96 [label="96"];
+96 -> n96_0 [label="0:forward",arrowhead="none"];
+n96_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n96_0 -> 100 [label="[1,1]"];
+97 [label="97"];
+97 -> n97_0 [label="0:arrive",arrowhead="none"];
+n97_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n97_0 -> 97 [label="[0.09999999999999998,0.2999999999999999]"];
+n97_0 -> 170 [label="[0.7000000000000001,0.9]"];
+98 [label="98"];
+98 -> n98_0 [label="0:arrive",arrowhead="none"];
+n98_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n98_0 -> 98 [label="[0.09999999999999998,0.2999999999999999]"];
+n98_0 -> 102 [label="[0.7000000000000001,0.9]"];
+99 [label="99"];
+99 -> n99_0 [label="0:arrive",arrowhead="none"];
+n99_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n99_0 -> 67 [label="[0.7000000000000001,0.9]"];
+n99_0 -> 99 [label="[0.09999999999999998,0.2999999999999999]"];
+100 [label="100"];
+100 -> n100_0 [label="0:arrive",arrowhead="none"];
+n100_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n100_0 -> 13 [label="[0.7000000000000001,0.9]"];
+n100_0 -> 100 [label="[0.09999999999999998,0.2999999999999999]"];
+101 [label="101"];
+101 -> n101_0 [label="0:choose_e",arrowhead="none"];
+n101_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n101_0 -> 101 [label="[0.09999999999999998,0.2999999999999999]"];
+n101_0 -> 105 [label="[0.7000000000000001,0.9]"];
+101 -> n101_1 [label="1:choose_s",arrowhead="none"];
+n101_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n101_1 -> 101 [label="[0.09999999999999998,0.2999999999999999]"];
+n101_1 -> 106 [label="[0.7000000000000001,0.9]"];
+101 -> n101_2 [label="2:choose_n",arrowhead="none"];
+n101_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n101_2 -> 101 [label="[0.09999999999999998,0.2999999999999999]"];
+n101_2 -> 107 [label="[0.7000000000000001,0.9]"];
+101 -> n101_3 [label="3:choose_w",arrowhead="none"];
+n101_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n101_3 -> 101 [label="[0.09999999999999998,0.2999999999999999]"];
+n101_3 -> 108 [label="[0.7000000000000001,0.9]"];
+102 [label="102"];
+102 -> n102_0 [label="0:choose_e",arrowhead="none"];
+n102_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n102_0 -> 102 [label="[0.09999999999999998,0.2999999999999999]"];
+n102_0 -> 105 [label="[0.7000000000000001,0.9]"];
+102 -> n102_1 [label="1:choose_s",arrowhead="none"];
+n102_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n102_1 -> 102 [label="[0.09999999999999998,0.2999999999999999]"];
+n102_1 -> 106 [label="[0.7000000000000001,0.9]"];
+102 -> n102_2 [label="2:choose_n",arrowhead="none"];
+n102_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n102_2 -> 102 [label="[0.09999999999999998,0.2999999999999999]"];
+n102_2 -> 107 [label="[0.7000000000000001,0.9]"];
+102 -> n102_3 [label="3:choose_w",arrowhead="none"];
+n102_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n102_3 -> 102 [label="[0.09999999999999998,0.2999999999999999]"];
+n102_3 -> 108 [label="[0.7000000000000001,0.9]"];
+103 [label="103"];
+103 -> n103_0 [label="0:choose_e",arrowhead="none"];
+n103_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n103_0 -> 103 [label="[0.09999999999999998,0.2999999999999999]"];
+n103_0 -> 105 [label="[0.7000000000000001,0.9]"];
+103 -> n103_1 [label="1:choose_s",arrowhead="none"];
+n103_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n103_1 -> 103 [label="[0.09999999999999998,0.2999999999999999]"];
+n103_1 -> 106 [label="[0.7000000000000001,0.9]"];
+103 -> n103_2 [label="2:choose_n",arrowhead="none"];
+n103_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n103_2 -> 103 [label="[0.09999999999999998,0.2999999999999999]"];
+n103_2 -> 107 [label="[0.7000000000000001,0.9]"];
+103 -> n103_3 [label="3:choose_w",arrowhead="none"];
+n103_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n103_3 -> 103 [label="[0.09999999999999998,0.2999999999999999]"];
+n103_3 -> 108 [label="[0.7000000000000001,0.9]"];
+104 [label="104"];
+104 -> n104_0 [label="0:choose_e",arrowhead="none"];
+n104_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n104_0 -> 104 [label="[0.09999999999999998,0.2999999999999999]"];
+n104_0 -> 105 [label="[0.7000000000000001,0.9]"];
+104 -> n104_1 [label="1:choose_s",arrowhead="none"];
+n104_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n104_1 -> 104 [label="[0.09999999999999998,0.2999999999999999]"];
+n104_1 -> 106 [label="[0.7000000000000001,0.9]"];
+104 -> n104_2 [label="2:choose_n",arrowhead="none"];
+n104_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n104_2 -> 104 [label="[0.09999999999999998,0.2999999999999999]"];
+n104_2 -> 107 [label="[0.7000000000000001,0.9]"];
+104 -> n104_3 [label="3:choose_w",arrowhead="none"];
+n104_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n104_3 -> 104 [label="[0.09999999999999998,0.2999999999999999]"];
+n104_3 -> 108 [label="[0.7000000000000001,0.9]"];
+105 [label="105"];
+105 -> n105_0 [label="0:forward",arrowhead="none"];
+n105_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n105_0 -> 109 [label="[1,1]"];
+106 [label="106"];
+106 -> n106_0 [label="0:forward",arrowhead="none"];
+n106_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n106_0 -> 110 [label="[1,1]"];
+107 [label="107"];
+107 -> n107_0 [label="0:forward",arrowhead="none"];
+n107_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n107_0 -> 111 [label="[1,1]"];
+108 [label="108"];
+108 -> n108_0 [label="0:forward",arrowhead="none"];
+n108_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n108_0 -> 112 [label="[1,1]"];
+109 [label="109"];
+109 -> n109_0 [label="0:forward",arrowhead="none"];
+n109_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n109_0 -> 113 [label="[1,1]"];
+110 [label="110"];
+110 -> n110_0 [label="0:forward",arrowhead="none"];
+n110_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n110_0 -> 114 [label="[1,1]"];
+111 [label="111"];
+111 -> n111_0 [label="0:forward",arrowhead="none"];
+n111_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n111_0 -> 115 [label="[1,1]"];
+112 [label="112"];
+112 -> n112_0 [label="0:forward",arrowhead="none"];
+n112_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n112_0 -> 116 [label="[1,1]"];
+113 [label="113"];
+113 -> n113_0 [label="0:forward",arrowhead="none"];
+n113_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n113_0 -> 117 [label="[1,1]"];
+114 [label="114"];
+114 -> n114_0 [label="0:forward",arrowhead="none"];
+n114_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n114_0 -> 118 [label="[1,1]"];
+115 [label="115"];
+115 -> n115_0 [label="0:forward",arrowhead="none"];
+n115_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n115_0 -> 119 [label="[1,1]"];
+116 [label="116"];
+116 -> n116_0 [label="0:forward",arrowhead="none"];
+n116_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n116_0 -> 120 [label="[1,1]"];
+117 [label="117"];
+117 -> n117_0 [label="0:arrive",arrowhead="none"];
+n117_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n117_0 -> 117 [label="[0.09999999999999998,0.2999999999999999]"];
+n117_0 -> 190 [label="[0.7000000000000001,0.9]"];
+118 [label="118"];
+118 -> n118_0 [label="0:arrive",arrowhead="none"];
+n118_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n118_0 -> 118 [label="[0.09999999999999998,0.2999999999999999]"];
+n118_0 -> 122 [label="[0.7000000000000001,0.9]"];
+119 [label="119"];
+119 -> n119_0 [label="0:arrive",arrowhead="none"];
+n119_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n119_0 -> 83 [label="[0.7000000000000001,0.9]"];
+n119_0 -> 119 [label="[0.09999999999999998,0.2999999999999999]"];
+120 [label="120"];
+120 -> n120_0 [label="0:arrive",arrowhead="none"];
+n120_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n120_0 -> 28 [label="[0.7000000000000001,0.9]"];
+n120_0 -> 120 [label="[0.09999999999999998,0.2999999999999999]"];
+121 [label="121"];
+121 -> n121_0 [label="0:choose_e",arrowhead="none"];
+n121_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n121_0 -> 121 [label="[0.09999999999999998,0.2999999999999999]"];
+n121_0 -> 125 [label="[0.7000000000000001,0.9]"];
+121 -> n121_1 [label="1:choose_s",arrowhead="none"];
+n121_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n121_1 -> 121 [label="[0.09999999999999998,0.2999999999999999]"];
+n121_1 -> 126 [label="[0.7000000000000001,0.9]"];
+121 -> n121_2 [label="2:choose_n",arrowhead="none"];
+n121_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n121_2 -> 121 [label="[0.09999999999999998,0.2999999999999999]"];
+n121_2 -> 127 [label="[0.7000000000000001,0.9]"];
+121 -> n121_3 [label="3:choose_w",arrowhead="none"];
+n121_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n121_3 -> 121 [label="[0.09999999999999998,0.2999999999999999]"];
+n121_3 -> 128 [label="[0.7000000000000001,0.9]"];
+122 [label="122"];
+122 -> n122_0 [label="0:choose_e",arrowhead="none"];
+n122_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n122_0 -> 122 [label="[0.09999999999999998,0.2999999999999999]"];
+n122_0 -> 125 [label="[0.7000000000000001,0.9]"];
+122 -> n122_1 [label="1:choose_s",arrowhead="none"];
+n122_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n122_1 -> 122 [label="[0.09999999999999998,0.2999999999999999]"];
+n122_1 -> 126 [label="[0.7000000000000001,0.9]"];
+122 -> n122_2 [label="2:choose_n",arrowhead="none"];
+n122_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n122_2 -> 122 [label="[0.09999999999999998,0.2999999999999999]"];
+n122_2 -> 127 [label="[0.7000000000000001,0.9]"];
+122 -> n122_3 [label="3:choose_w",arrowhead="none"];
+n122_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n122_3 -> 122 [label="[0.09999999999999998,0.2999999999999999]"];
+n122_3 -> 128 [label="[0.7000000000000001,0.9]"];
+123 [label="123"];
+123 -> n123_0 [label="0:choose_e",arrowhead="none"];
+n123_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n123_0 -> 123 [label="[0.09999999999999998,0.2999999999999999]"];
+n123_0 -> 125 [label="[0.7000000000000001,0.9]"];
+123 -> n123_1 [label="1:choose_s",arrowhead="none"];
+n123_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n123_1 -> 123 [label="[0.09999999999999998,0.2999999999999999]"];
+n123_1 -> 126 [label="[0.7000000000000001,0.9]"];
+123 -> n123_2 [label="2:choose_n",arrowhead="none"];
+n123_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n123_2 -> 123 [label="[0.09999999999999998,0.2999999999999999]"];
+n123_2 -> 127 [label="[0.7000000000000001,0.9]"];
+123 -> n123_3 [label="3:choose_w",arrowhead="none"];
+n123_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n123_3 -> 123 [label="[0.09999999999999998,0.2999999999999999]"];
+n123_3 -> 128 [label="[0.7000000000000001,0.9]"];
+124 [label="124"];
+124 -> n124_0 [label="0:choose_e",arrowhead="none"];
+n124_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n124_0 -> 124 [label="[0.09999999999999998,0.2999999999999999]"];
+n124_0 -> 125 [label="[0.7000000000000001,0.9]"];
+124 -> n124_1 [label="1:choose_s",arrowhead="none"];
+n124_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n124_1 -> 124 [label="[0.09999999999999998,0.2999999999999999]"];
+n124_1 -> 126 [label="[0.7000000000000001,0.9]"];
+124 -> n124_2 [label="2:choose_n",arrowhead="none"];
+n124_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n124_2 -> 124 [label="[0.09999999999999998,0.2999999999999999]"];
+n124_2 -> 127 [label="[0.7000000000000001,0.9]"];
+124 -> n124_3 [label="3:choose_w",arrowhead="none"];
+n124_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n124_3 -> 124 [label="[0.09999999999999998,0.2999999999999999]"];
+n124_3 -> 128 [label="[0.7000000000000001,0.9]"];
+125 [label="125"];
+125 -> n125_0 [label="0:forward",arrowhead="none"];
+n125_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n125_0 -> 129 [label="[1,1]"];
+126 [label="126"];
+126 -> n126_0 [label="0:forward",arrowhead="none"];
+n126_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n126_0 -> 130 [label="[1,1]"];
+127 [label="127"];
+127 -> n127_0 [label="0:forward",arrowhead="none"];
+n127_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n127_0 -> 131 [label="[1,1]"];
+128 [label="128"];
+128 -> n128_0 [label="0:forward",arrowhead="none"];
+n128_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n128_0 -> 132 [label="[1,1]"];
+129 [label="129"];
+129 -> n129_0 [label="0:forward",arrowhead="none"];
+n129_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n129_0 -> 133 [label="[1,1]"];
+130 [label="130"];
+130 -> n130_0 [label="0:forward",arrowhead="none"];
+n130_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n130_0 -> 134 [label="[1,1]"];
+131 [label="131"];
+131 -> n131_0 [label="0:forward",arrowhead="none"];
+n131_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n131_0 -> 135 [label="[1,1]"];
+132 [label="132"];
+132 -> n132_0 [label="0:forward",arrowhead="none"];
+n132_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n132_0 -> 136 [label="[1,1]"];
+133 [label="133"];
+133 -> n133_0 [label="0:forward",arrowhead="none"];
+n133_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n133_0 -> 137 [label="[1,1]"];
+134 [label="134"];
+134 -> n134_0 [label="0:forward",arrowhead="none"];
+n134_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n134_0 -> 138 [label="[1,1]"];
+135 [label="135"];
+135 -> n135_0 [label="0:forward",arrowhead="none"];
+n135_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n135_0 -> 139 [label="[1,1]"];
+136 [label="136"];
+136 -> n136_0 [label="0:forward",arrowhead="none"];
+n136_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n136_0 -> 140 [label="[1,1]"];
+137 [label="137"];
+137 -> n137_0 [label="0:arrive",arrowhead="none"];
+n137_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n137_0 -> 137 [label="[0.09999999999999998,0.2999999999999999]"];
+n137_0 -> 210 [label="[0.7000000000000001,0.9]"];
+138 [label="138"];
+138 -> n138_0 [label="0:arrive",arrowhead="none"];
+n138_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n138_0 -> 138 [label="[0.09999999999999998,0.2999999999999999]"];
+n138_0 -> 142 [label="[0.7000000000000001,0.9]"];
+139 [label="139"];
+139 -> n139_0 [label="0:arrive",arrowhead="none"];
+n139_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n139_0 -> 103 [label="[0.7000000000000001,0.9]"];
+n139_0 -> 139 [label="[0.09999999999999998,0.2999999999999999]"];
+140 [label="140"];
+140 -> n140_0 [label="0:arrive",arrowhead="none"];
+n140_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n140_0 -> 43 [label="[0.7000000000000001,0.9]"];
+n140_0 -> 140 [label="[0.09999999999999998,0.2999999999999999]"];
+141 [label="141"];
+141 -> n141_0 [label="0:choose_e",arrowhead="none"];
+n141_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n141_0 -> 141 [label="[0.09999999999999998,0.2999999999999999]"];
+n141_0 -> 143 [label="[0.7000000000000001,0.9]"];
+141 -> n141_1 [label="1:choose_n",arrowhead="none"];
+n141_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n141_1 -> 141 [label="[0.09999999999999998,0.2999999999999999]"];
+n141_1 -> 144 [label="[0.7000000000000001,0.9]"];
+141 -> n141_2 [label="2:choose_w",arrowhead="none"];
+n141_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n141_2 -> 141 [label="[0.09999999999999998,0.2999999999999999]"];
+n141_2 -> 145 [label="[0.7000000000000001,0.9]"];
+142 [label="142"];
+142 -> n142_0 [label="0:choose_e",arrowhead="none"];
+n142_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n142_0 -> 142 [label="[0.09999999999999998,0.2999999999999999]"];
+n142_0 -> 143 [label="[0.7000000000000001,0.9]"];
+142 -> n142_1 [label="1:choose_n",arrowhead="none"];
+n142_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n142_1 -> 142 [label="[0.09999999999999998,0.2999999999999999]"];
+n142_1 -> 144 [label="[0.7000000000000001,0.9]"];
+142 -> n142_2 [label="2:choose_w",arrowhead="none"];
+n142_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n142_2 -> 142 [label="[0.09999999999999998,0.2999999999999999]"];
+n142_2 -> 145 [label="[0.7000000000000001,0.9]"];
+143 [label="143"];
+143 -> n143_0 [label="0:forward",arrowhead="none"];
+n143_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n143_0 -> 146 [label="[1,1]"];
+144 [label="144"];
+144 -> n144_0 [label="0:forward",arrowhead="none"];
+n144_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n144_0 -> 147 [label="[1,1]"];
+145 [label="145"];
+145 -> n145_0 [label="0:forward",arrowhead="none"];
+n145_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n145_0 -> 148 [label="[1,1]"];
+146 [label="146"];
+146 -> n146_0 [label="0:forward",arrowhead="none"];
+n146_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n146_0 -> 149 [label="[1,1]"];
+147 [label="147"];
+147 -> n147_0 [label="0:forward",arrowhead="none"];
+n147_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n147_0 -> 150 [label="[1,1]"];
+148 [label="148"];
+148 -> n148_0 [label="0:forward",arrowhead="none"];
+n148_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n148_0 -> 151 [label="[1,1]"];
+149 [label="149"];
+149 -> n149_0 [label="0:forward",arrowhead="none"];
+n149_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n149_0 -> 152 [label="[1,1]"];
+150 [label="150"];
+150 -> n150_0 [label="0:forward",arrowhead="none"];
+n150_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n150_0 -> 153 [label="[1,1]"];
+151 [label="151"];
+151 -> n151_0 [label="0:forward",arrowhead="none"];
+n151_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n151_0 -> 154 [label="[1,1]"];
+152 [label="152"];
+152 -> n152_0 [label="0:arrive",arrowhead="none"];
+n152_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n152_0 -> 152 [label="[0.09999999999999998,0.2999999999999999]"];
+n152_0 -> 229 [label="[0.7000000000000001,0.9]"];
+153 [label="153"];
+153 -> n153_0 [label="0:arrive",arrowhead="none"];
+n153_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n153_0 -> 123 [label="[0.7000000000000001,0.9]"];
+n153_0 -> 153 [label="[0.09999999999999998,0.2999999999999999]"];
+154 [label="154"];
+154 -> n154_0 [label="0:arrive",arrowhead="none"];
+n154_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n154_0 -> 57 [label="[0.7000000000000001,0.9]"];
+n154_0 -> 154 [label="[0.09999999999999998,0.2999999999999999]"];
+155 [label="155"];
+155 -> n155_0 [label="0:choose_e",arrowhead="none"];
+n155_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n155_0 -> 155 [label="[0.09999999999999998,0.2999999999999999]"];
+n155_0 -> 158 [label="[0.7000000000000001,0.9]"];
+155 -> n155_1 [label="1:choose_s",arrowhead="none"];
+n155_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n155_1 -> 155 [label="[0.09999999999999998,0.2999999999999999]"];
+n155_1 -> 159 [label="[0.7000000000000001,0.9]"];
+155 -> n155_2 [label="2:choose_w",arrowhead="none"];
+n155_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n155_2 -> 155 [label="[0.09999999999999998,0.2999999999999999]"];
+n155_2 -> 160 [label="[0.7000000000000001,0.9]"];
+156 [label="156"];
+156 -> n156_0 [label="0:choose_e",arrowhead="none"];
+n156_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n156_0 -> 156 [label="[0.09999999999999998,0.2999999999999999]"];
+n156_0 -> 158 [label="[0.7000000000000001,0.9]"];
+156 -> n156_1 [label="1:choose_s",arrowhead="none"];
+n156_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n156_1 -> 156 [label="[0.09999999999999998,0.2999999999999999]"];
+n156_1 -> 159 [label="[0.7000000000000001,0.9]"];
+156 -> n156_2 [label="2:choose_w",arrowhead="none"];
+n156_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n156_2 -> 156 [label="[0.09999999999999998,0.2999999999999999]"];
+n156_2 -> 160 [label="[0.7000000000000001,0.9]"];
+157 [label="157"];
+157 -> n157_0 [label="0:choose_e",arrowhead="none"];
+n157_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n157_0 -> 157 [label="[0.09999999999999998,0.2999999999999999]"];
+n157_0 -> 158 [label="[0.7000000000000001,0.9]"];
+157 -> n157_1 [label="1:choose_s",arrowhead="none"];
+n157_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n157_1 -> 157 [label="[0.09999999999999998,0.2999999999999999]"];
+n157_1 -> 159 [label="[0.7000000000000001,0.9]"];
+157 -> n157_2 [label="2:choose_w",arrowhead="none"];
+n157_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n157_2 -> 157 [label="[0.09999999999999998,0.2999999999999999]"];
+n157_2 -> 160 [label="[0.7000000000000001,0.9]"];
+158 [label="158"];
+158 -> n158_0 [label="0:forward",arrowhead="none"];
+n158_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n158_0 -> 161 [label="[1,1]"];
+159 [label="159"];
+159 -> n159_0 [label="0:forward",arrowhead="none"];
+n159_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n159_0 -> 162 [label="[1,1]"];
+160 [label="160"];
+160 -> n160_0 [label="0:forward",arrowhead="none"];
+n160_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n160_0 -> 163 [label="[1,1]"];
+161 [label="161"];
+161 -> n161_0 [label="0:forward",arrowhead="none"];
+n161_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n161_0 -> 164 [label="[1,1]"];
+162 [label="162"];
+162 -> n162_0 [label="0:forward",arrowhead="none"];
+n162_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n162_0 -> 165 [label="[1,1]"];
+163 [label="163"];
+163 -> n163_0 [label="0:forward",arrowhead="none"];
+n163_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n163_0 -> 166 [label="[1,1]"];
+164 [label="164"];
+164 -> n164_0 [label="0:forward",arrowhead="none"];
+n164_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n164_0 -> 167 [label="[1,1]"];
+165 [label="165"];
+165 -> n165_0 [label="0:forward",arrowhead="none"];
+n165_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n165_0 -> 168 [label="[1,1]"];
+166 [label="166"];
+166 -> n166_0 [label="0:forward",arrowhead="none"];
+n166_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n166_0 -> 169 [label="[1,1]"];
+167 [label="167"];
+167 -> n167_0 [label="0:arrive",arrowhead="none"];
+n167_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n167_0 -> 167 [label="[0.09999999999999998,0.2999999999999999]"];
+n167_0 -> 232 [label="[0.7000000000000001,0.9]"];
+168 [label="168"];
+168 -> n168_0 [label="0:arrive",arrowhead="none"];
+n168_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n168_0 -> 168 [label="[0.09999999999999998,0.2999999999999999]"];
+n168_0 -> 171 [label="[0.7000000000000001,0.9]"];
+169 [label="169"];
+169 -> n169_0 [label="0:arrive",arrowhead="none"];
+n169_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n169_0 -> 68 [label="[0.7000000000000001,0.9]"];
+n169_0 -> 169 [label="[0.09999999999999998,0.2999999999999999]"];
+170 [label="170"];
+170 -> n170_0 [label="0:choose_e",arrowhead="none"];
+n170_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n170_0 -> 170 [label="[0.09999999999999998,0.2999999999999999]"];
+n170_0 -> 174 [label="[0.7000000000000001,0.9]"];
+170 -> n170_1 [label="1:choose_s",arrowhead="none"];
+n170_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n170_1 -> 170 [label="[0.09999999999999998,0.2999999999999999]"];
+n170_1 -> 175 [label="[0.7000000000000001,0.9]"];
+170 -> n170_2 [label="2:choose_n",arrowhead="none"];
+n170_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n170_2 -> 170 [label="[0.09999999999999998,0.2999999999999999]"];
+n170_2 -> 176 [label="[0.7000000000000001,0.9]"];
+170 -> n170_3 [label="3:choose_w",arrowhead="none"];
+n170_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n170_3 -> 170 [label="[0.09999999999999998,0.2999999999999999]"];
+n170_3 -> 177 [label="[0.7000000000000001,0.9]"];
+171 [label="171"];
+171 -> n171_0 [label="0:choose_e",arrowhead="none"];
+n171_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n171_0 -> 171 [label="[0.09999999999999998,0.2999999999999999]"];
+n171_0 -> 174 [label="[0.7000000000000001,0.9]"];
+171 -> n171_1 [label="1:choose_s",arrowhead="none"];
+n171_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n171_1 -> 171 [label="[0.09999999999999998,0.2999999999999999]"];
+n171_1 -> 175 [label="[0.7000000000000001,0.9]"];
+171 -> n171_2 [label="2:choose_n",arrowhead="none"];
+n171_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n171_2 -> 171 [label="[0.09999999999999998,0.2999999999999999]"];
+n171_2 -> 176 [label="[0.7000000000000001,0.9]"];
+171 -> n171_3 [label="3:choose_w",arrowhead="none"];
+n171_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n171_3 -> 171 [label="[0.09999999999999998,0.2999999999999999]"];
+n171_3 -> 177 [label="[0.7000000000000001,0.9]"];
+172 [label="172"];
+172 -> n172_0 [label="0:choose_e",arrowhead="none"];
+n172_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n172_0 -> 172 [label="[0.09999999999999998,0.2999999999999999]"];
+n172_0 -> 174 [label="[0.7000000000000001,0.9]"];
+172 -> n172_1 [label="1:choose_s",arrowhead="none"];
+n172_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n172_1 -> 172 [label="[0.09999999999999998,0.2999999999999999]"];
+n172_1 -> 175 [label="[0.7000000000000001,0.9]"];
+172 -> n172_2 [label="2:choose_n",arrowhead="none"];
+n172_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n172_2 -> 172 [label="[0.09999999999999998,0.2999999999999999]"];
+n172_2 -> 176 [label="[0.7000000000000001,0.9]"];
+172 -> n172_3 [label="3:choose_w",arrowhead="none"];
+n172_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n172_3 -> 172 [label="[0.09999999999999998,0.2999999999999999]"];
+n172_3 -> 177 [label="[0.7000000000000001,0.9]"];
+173 [label="173"];
+173 -> n173_0 [label="0:choose_e",arrowhead="none"];
+n173_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n173_0 -> 173 [label="[0.09999999999999998,0.2999999999999999]"];
+n173_0 -> 174 [label="[0.7000000000000001,0.9]"];
+173 -> n173_1 [label="1:choose_s",arrowhead="none"];
+n173_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n173_1 -> 173 [label="[0.09999999999999998,0.2999999999999999]"];
+n173_1 -> 175 [label="[0.7000000000000001,0.9]"];
+173 -> n173_2 [label="2:choose_n",arrowhead="none"];
+n173_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n173_2 -> 173 [label="[0.09999999999999998,0.2999999999999999]"];
+n173_2 -> 176 [label="[0.7000000000000001,0.9]"];
+173 -> n173_3 [label="3:choose_w",arrowhead="none"];
+n173_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n173_3 -> 173 [label="[0.09999999999999998,0.2999999999999999]"];
+n173_3 -> 177 [label="[0.7000000000000001,0.9]"];
+174 [label="174"];
+174 -> n174_0 [label="0:forward",arrowhead="none"];
+n174_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n174_0 -> 178 [label="[1,1]"];
+175 [label="175"];
+175 -> n175_0 [label="0:forward",arrowhead="none"];
+n175_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n175_0 -> 179 [label="[1,1]"];
+176 [label="176"];
+176 -> n176_0 [label="0:forward",arrowhead="none"];
+n176_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n176_0 -> 180 [label="[1,1]"];
+177 [label="177"];
+177 -> n177_0 [label="0:forward",arrowhead="none"];
+n177_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n177_0 -> 181 [label="[1,1]"];
+178 [label="178"];
+178 -> n178_0 [label="0:forward",arrowhead="none"];
+n178_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n178_0 -> 182 [label="[1,1]"];
+179 [label="179"];
+179 -> n179_0 [label="0:forward",arrowhead="none"];
+n179_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n179_0 -> 183 [label="[1,1]"];
+180 [label="180"];
+180 -> n180_0 [label="0:forward",arrowhead="none"];
+n180_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n180_0 -> 184 [label="[1,1]"];
+181 [label="181"];
+181 -> n181_0 [label="0:forward",arrowhead="none"];
+n181_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n181_0 -> 185 [label="[1,1]"];
+182 [label="182"];
+182 -> n182_0 [label="0:forward",arrowhead="none"];
+n182_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n182_0 -> 186 [label="[1,1]"];
+183 [label="183"];
+183 -> n183_0 [label="0:forward",arrowhead="none"];
+n183_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n183_0 -> 187 [label="[1,1]"];
+184 [label="184"];
+184 -> n184_0 [label="0:forward",arrowhead="none"];
+n184_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n184_0 -> 188 [label="[1,1]"];
+185 [label="185"];
+185 -> n185_0 [label="0:forward",arrowhead="none"];
+n185_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n185_0 -> 189 [label="[1,1]"];
+186 [label="186"];
+186 -> n186_0 [label="0:arrive",arrowhead="none"];
+n186_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n186_0 -> 186 [label="[0.09999999999999998,0.2999999999999999]"];
+n186_0 -> 246 [label="[0.7000000000000001,0.9]"];
+187 [label="187"];
+187 -> n187_0 [label="0:arrive",arrowhead="none"];
+n187_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n187_0 -> 187 [label="[0.09999999999999998,0.2999999999999999]"];
+n187_0 -> 191 [label="[0.7000000000000001,0.9]"];
+188 [label="188"];
+188 -> n188_0 [label="0:arrive",arrowhead="none"];
+n188_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n188_0 -> 156 [label="[0.7000000000000001,0.9]"];
+n188_0 -> 188 [label="[0.09999999999999998,0.2999999999999999]"];
+189 [label="189"];
+189 -> n189_0 [label="0:arrive",arrowhead="none"];
+n189_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n189_0 -> 84 [label="[0.7000000000000001,0.9]"];
+n189_0 -> 189 [label="[0.09999999999999998,0.2999999999999999]"];
+190 [label="190"];
+190 -> n190_0 [label="0:choose_e",arrowhead="none"];
+n190_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n190_0 -> 190 [label="[0.09999999999999998,0.2999999999999999]"];
+n190_0 -> 194 [label="[0.7000000000000001,0.9]"];
+190 -> n190_1 [label="1:choose_s",arrowhead="none"];
+n190_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n190_1 -> 190 [label="[0.09999999999999998,0.2999999999999999]"];
+n190_1 -> 195 [label="[0.7000000000000001,0.9]"];
+190 -> n190_2 [label="2:choose_n",arrowhead="none"];
+n190_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n190_2 -> 190 [label="[0.09999999999999998,0.2999999999999999]"];
+n190_2 -> 196 [label="[0.7000000000000001,0.9]"];
+190 -> n190_3 [label="3:choose_w",arrowhead="none"];
+n190_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n190_3 -> 190 [label="[0.09999999999999998,0.2999999999999999]"];
+n190_3 -> 197 [label="[0.7000000000000001,0.9]"];
+191 [label="191"];
+191 -> n191_0 [label="0:choose_e",arrowhead="none"];
+n191_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n191_0 -> 191 [label="[0.09999999999999998,0.2999999999999999]"];
+n191_0 -> 194 [label="[0.7000000000000001,0.9]"];
+191 -> n191_1 [label="1:choose_s",arrowhead="none"];
+n191_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n191_1 -> 191 [label="[0.09999999999999998,0.2999999999999999]"];
+n191_1 -> 195 [label="[0.7000000000000001,0.9]"];
+191 -> n191_2 [label="2:choose_n",arrowhead="none"];
+n191_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n191_2 -> 191 [label="[0.09999999999999998,0.2999999999999999]"];
+n191_2 -> 196 [label="[0.7000000000000001,0.9]"];
+191 -> n191_3 [label="3:choose_w",arrowhead="none"];
+n191_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n191_3 -> 191 [label="[0.09999999999999998,0.2999999999999999]"];
+n191_3 -> 197 [label="[0.7000000000000001,0.9]"];
+192 [label="192"];
+192 -> n192_0 [label="0:choose_e",arrowhead="none"];
+n192_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n192_0 -> 192 [label="[0.09999999999999998,0.2999999999999999]"];
+n192_0 -> 194 [label="[0.7000000000000001,0.9]"];
+192 -> n192_1 [label="1:choose_s",arrowhead="none"];
+n192_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n192_1 -> 192 [label="[0.09999999999999998,0.2999999999999999]"];
+n192_1 -> 195 [label="[0.7000000000000001,0.9]"];
+192 -> n192_2 [label="2:choose_n",arrowhead="none"];
+n192_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n192_2 -> 192 [label="[0.09999999999999998,0.2999999999999999]"];
+n192_2 -> 196 [label="[0.7000000000000001,0.9]"];
+192 -> n192_3 [label="3:choose_w",arrowhead="none"];
+n192_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n192_3 -> 192 [label="[0.09999999999999998,0.2999999999999999]"];
+n192_3 -> 197 [label="[0.7000000000000001,0.9]"];
+193 [label="193"];
+193 -> n193_0 [label="0:choose_e",arrowhead="none"];
+n193_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n193_0 -> 193 [label="[0.09999999999999998,0.2999999999999999]"];
+n193_0 -> 194 [label="[0.7000000000000001,0.9]"];
+193 -> n193_1 [label="1:choose_s",arrowhead="none"];
+n193_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n193_1 -> 193 [label="[0.09999999999999998,0.2999999999999999]"];
+n193_1 -> 195 [label="[0.7000000000000001,0.9]"];
+193 -> n193_2 [label="2:choose_n",arrowhead="none"];
+n193_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n193_2 -> 193 [label="[0.09999999999999998,0.2999999999999999]"];
+n193_2 -> 196 [label="[0.7000000000000001,0.9]"];
+193 -> n193_3 [label="3:choose_w",arrowhead="none"];
+n193_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n193_3 -> 193 [label="[0.09999999999999998,0.2999999999999999]"];
+n193_3 -> 197 [label="[0.7000000000000001,0.9]"];
+194 [label="194"];
+194 -> n194_0 [label="0:forward",arrowhead="none"];
+n194_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n194_0 -> 198 [label="[1,1]"];
+195 [label="195"];
+195 -> n195_0 [label="0:forward",arrowhead="none"];
+n195_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n195_0 -> 199 [label="[1,1]"];
+196 [label="196"];
+196 -> n196_0 [label="0:forward",arrowhead="none"];
+n196_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n196_0 -> 200 [label="[1,1]"];
+197 [label="197"];
+197 -> n197_0 [label="0:forward",arrowhead="none"];
+n197_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n197_0 -> 201 [label="[1,1]"];
+198 [label="198"];
+198 -> n198_0 [label="0:forward",arrowhead="none"];
+n198_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n198_0 -> 202 [label="[1,1]"];
+199 [label="199"];
+199 -> n199_0 [label="0:forward",arrowhead="none"];
+n199_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n199_0 -> 203 [label="[1,1]"];
+200 [label="200"];
+200 -> n200_0 [label="0:forward",arrowhead="none"];
+n200_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n200_0 -> 204 [label="[1,1]"];
+201 [label="201"];
+201 -> n201_0 [label="0:forward",arrowhead="none"];
+n201_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n201_0 -> 205 [label="[1,1]"];
+202 [label="202"];
+202 -> n202_0 [label="0:forward",arrowhead="none"];
+n202_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n202_0 -> 206 [label="[1,1]"];
+203 [label="203"];
+203 -> n203_0 [label="0:forward",arrowhead="none"];
+n203_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n203_0 -> 207 [label="[1,1]"];
+204 [label="204"];
+204 -> n204_0 [label="0:forward",arrowhead="none"];
+n204_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n204_0 -> 208 [label="[1,1]"];
+205 [label="205"];
+205 -> n205_0 [label="0:forward",arrowhead="none"];
+n205_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n205_0 -> 209 [label="[1,1]"];
+206 [label="206"];
+206 -> n206_0 [label="0:arrive",arrowhead="none"];
+n206_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n206_0 -> 206 [label="[0.09999999999999998,0.2999999999999999]"];
+n206_0 -> 266 [label="[0.7000000000000001,0.9]"];
+207 [label="207"];
+207 -> n207_0 [label="0:arrive",arrowhead="none"];
+n207_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n207_0 -> 207 [label="[0.09999999999999998,0.2999999999999999]"];
+n207_0 -> 211 [label="[0.7000000000000001,0.9]"];
+208 [label="208"];
+208 -> n208_0 [label="0:arrive",arrowhead="none"];
+n208_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n208_0 -> 172 [label="[0.7000000000000001,0.9]"];
+n208_0 -> 208 [label="[0.09999999999999998,0.2999999999999999]"];
+209 [label="209"];
+209 -> n209_0 [label="0:arrive",arrowhead="none"];
+n209_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n209_0 -> 104 [label="[0.7000000000000001,0.9]"];
+n209_0 -> 209 [label="[0.09999999999999998,0.2999999999999999]"];
+210 [label="210"];
+210 -> n210_0 [label="0:choose_e",arrowhead="none"];
+n210_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n210_0 -> 210 [label="[0.09999999999999998,0.2999999999999999]"];
+n210_0 -> 213 [label="[0.7000000000000001,0.9]"];
+210 -> n210_1 [label="1:choose_s",arrowhead="none"];
+n210_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n210_1 -> 210 [label="[0.09999999999999998,0.2999999999999999]"];
+n210_1 -> 214 [label="[0.7000000000000001,0.9]"];
+210 -> n210_2 [label="2:choose_n",arrowhead="none"];
+n210_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n210_2 -> 210 [label="[0.09999999999999998,0.2999999999999999]"];
+n210_2 -> 215 [label="[0.7000000000000001,0.9]"];
+210 -> n210_3 [label="3:choose_w",arrowhead="none"];
+n210_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n210_3 -> 210 [label="[0.09999999999999998,0.2999999999999999]"];
+n210_3 -> 216 [label="[0.7000000000000001,0.9]"];
+211 [label="211"];
+211 -> n211_0 [label="0:choose_e",arrowhead="none"];
+n211_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n211_0 -> 211 [label="[0.09999999999999998,0.2999999999999999]"];
+n211_0 -> 213 [label="[0.7000000000000001,0.9]"];
+211 -> n211_1 [label="1:choose_s",arrowhead="none"];
+n211_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n211_1 -> 211 [label="[0.09999999999999998,0.2999999999999999]"];
+n211_1 -> 214 [label="[0.7000000000000001,0.9]"];
+211 -> n211_2 [label="2:choose_n",arrowhead="none"];
+n211_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n211_2 -> 211 [label="[0.09999999999999998,0.2999999999999999]"];
+n211_2 -> 215 [label="[0.7000000000000001,0.9]"];
+211 -> n211_3 [label="3:choose_w",arrowhead="none"];
+n211_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n211_3 -> 211 [label="[0.09999999999999998,0.2999999999999999]"];
+n211_3 -> 216 [label="[0.7000000000000001,0.9]"];
+212 [label="212"];
+212 -> n212_0 [label="0:choose_e",arrowhead="none"];
+n212_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n212_0 -> 212 [label="[0.09999999999999998,0.2999999999999999]"];
+n212_0 -> 213 [label="[0.7000000000000001,0.9]"];
+212 -> n212_1 [label="1:choose_s",arrowhead="none"];
+n212_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n212_1 -> 212 [label="[0.09999999999999998,0.2999999999999999]"];
+n212_1 -> 214 [label="[0.7000000000000001,0.9]"];
+212 -> n212_2 [label="2:choose_n",arrowhead="none"];
+n212_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n212_2 -> 212 [label="[0.09999999999999998,0.2999999999999999]"];
+n212_2 -> 215 [label="[0.7000000000000001,0.9]"];
+212 -> n212_3 [label="3:choose_w",arrowhead="none"];
+n212_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n212_3 -> 212 [label="[0.09999999999999998,0.2999999999999999]"];
+n212_3 -> 216 [label="[0.7000000000000001,0.9]"];
+213 [label="213"];
+213 -> n213_0 [label="0:forward",arrowhead="none"];
+n213_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n213_0 -> 217 [label="[1,1]"];
+214 [label="214"];
+214 -> n214_0 [label="0:forward",arrowhead="none"];
+n214_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n214_0 -> 218 [label="[1,1]"];
+215 [label="215"];
+215 -> n215_0 [label="0:forward",arrowhead="none"];
+n215_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n215_0 -> 219 [label="[1,1]"];
+216 [label="216"];
+216 -> n216_0 [label="0:forward",arrowhead="none"];
+n216_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n216_0 -> 220 [label="[1,1]"];
+217 [label="217"];
+217 -> n217_0 [label="0:forward",arrowhead="none"];
+n217_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n217_0 -> 221 [label="[1,1]"];
+218 [label="218"];
+218 -> n218_0 [label="0:forward",arrowhead="none"];
+n218_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n218_0 -> 222 [label="[1,1]"];
+219 [label="219"];
+219 -> n219_0 [label="0:forward",arrowhead="none"];
+n219_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n219_0 -> 223 [label="[1,1]"];
+220 [label="220"];
+220 -> n220_0 [label="0:forward",arrowhead="none"];
+n220_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n220_0 -> 224 [label="[1,1]"];
+221 [label="221"];
+221 -> n221_0 [label="0:forward",arrowhead="none"];
+n221_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n221_0 -> 225 [label="[1,1]"];
+222 [label="222"];
+222 -> n222_0 [label="0:forward",arrowhead="none"];
+n222_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n222_0 -> 226 [label="[1,1]"];
+223 [label="223"];
+223 -> n223_0 [label="0:forward",arrowhead="none"];
+n223_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n223_0 -> 227 [label="[1,1]"];
+224 [label="224"];
+224 -> n224_0 [label="0:forward",arrowhead="none"];
+n224_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n224_0 -> 228 [label="[1,1]"];
+225 [label="225"];
+225 -> n225_0 [label="0:arrive",arrowhead="none"];
+n225_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n225_0 -> 225 [label="[0.09999999999999998,0.2999999999999999]"];
+n225_0 -> 286 [label="[0.7000000000000001,0.9]"];
+226 [label="226"];
+226 -> n226_0 [label="0:arrive",arrowhead="none"];
+n226_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n226_0 -> 226 [label="[0.09999999999999998,0.2999999999999999]"];
+n226_0 -> 230 [label="[0.7000000000000001,0.9]"];
+227 [label="227"];
+227 -> n227_0 [label="0:arrive",arrowhead="none"];
+n227_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n227_0 -> 192 [label="[0.7000000000000001,0.9]"];
+n227_0 -> 227 [label="[0.09999999999999998,0.2999999999999999]"];
+228 [label="228"];
+228 -> n228_0 [label="0:arrive",arrowhead="none"];
+n228_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n228_0 -> 124 [label="[0.7000000000000001,0.9]"];
+n228_0 -> 228 [label="[0.09999999999999998,0.2999999999999999]"];
+229 [label="229"];
+229 -> n229_0 [label="0:trap",arrowhead="none"];
+n229_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n229_0 -> 229 [label="[1,1]"];
+230 [label="230"];
+230 -> n230_0 [label="0:trap",arrowhead="none"];
+n230_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n230_0 -> 230 [label="[1,1]"];
+231 [label="231"];
+231 -> n231_0 [label="0:trap",arrowhead="none"];
+n231_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n231_0 -> 231 [label="[1,1]"];
+232 [label="232"];
+232 -> n232_0 [label="0:choose_e",arrowhead="none"];
+n232_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n232_0 -> 232 [label="[0.09999999999999998,0.2999999999999999]"];
+n232_0 -> 234 [label="[0.7000000000000001,0.9]"];
+232 -> n232_1 [label="1:choose_s",arrowhead="none"];
+n232_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n232_1 -> 232 [label="[0.09999999999999998,0.2999999999999999]"];
+n232_1 -> 235 [label="[0.7000000000000001,0.9]"];
+232 -> n232_2 [label="2:choose_w",arrowhead="none"];
+n232_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n232_2 -> 232 [label="[0.09999999999999998,0.2999999999999999]"];
+n232_2 -> 236 [label="[0.7000000000000001,0.9]"];
+233 [label="233"];
+233 -> n233_0 [label="0:choose_e",arrowhead="none"];
+n233_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n233_0 -> 233 [label="[0.09999999999999998,0.2999999999999999]"];
+n233_0 -> 234 [label="[0.7000000000000001,0.9]"];
+233 -> n233_1 [label="1:choose_s",arrowhead="none"];
+n233_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n233_1 -> 233 [label="[0.09999999999999998,0.2999999999999999]"];
+n233_1 -> 235 [label="[0.7000000000000001,0.9]"];
+233 -> n233_2 [label="2:choose_w",arrowhead="none"];
+n233_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n233_2 -> 233 [label="[0.09999999999999998,0.2999999999999999]"];
+n233_2 -> 236 [label="[0.7000000000000001,0.9]"];
+234 [label="234"];
+234 -> n234_0 [label="0:forward",arrowhead="none"];
+n234_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n234_0 -> 237 [label="[1,1]"];
+235 [label="235"];
+235 -> n235_0 [label="0:forward",arrowhead="none"];
+n235_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n235_0 -> 238 [label="[1,1]"];
+236 [label="236"];
+236 -> n236_0 [label="0:forward",arrowhead="none"];
+n236_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n236_0 -> 239 [label="[1,1]"];
+237 [label="237"];
+237 -> n237_0 [label="0:forward",arrowhead="none"];
+n237_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n237_0 -> 240 [label="[1,1]"];
+238 [label="238"];
+238 -> n238_0 [label="0:forward",arrowhead="none"];
+n238_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n238_0 -> 241 [label="[1,1]"];
+239 [label="239"];
+239 -> n239_0 [label="0:forward",arrowhead="none"];
+n239_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n239_0 -> 242 [label="[1,1]"];
+240 [label="240"];
+240 -> n240_0 [label="0:forward",arrowhead="none"];
+n240_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n240_0 -> 243 [label="[1,1]"];
+241 [label="241"];
+241 -> n241_0 [label="0:forward",arrowhead="none"];
+n241_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n241_0 -> 244 [label="[1,1]"];
+242 [label="242"];
+242 -> n242_0 [label="0:forward",arrowhead="none"];
+n242_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n242_0 -> 245 [label="[1,1]"];
+243 [label="243"];
+243 -> n243_0 [label="0:arrive",arrowhead="none"];
+n243_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n243_0 -> 243 [label="[0.09999999999999998,0.2999999999999999]"];
+n243_0 -> 319 [label="[0.7000000000000001,0.9]"];
+244 [label="244"];
+244 -> n244_0 [label="0:arrive",arrowhead="none"];
+n244_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n244_0 -> 244 [label="[0.09999999999999998,0.2999999999999999]"];
+n244_0 -> 247 [label="[0.7000000000000001,0.9]"];
+245 [label="245"];
+245 -> n245_0 [label="0:arrive",arrowhead="none"];
+n245_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n245_0 -> 157 [label="[0.7000000000000001,0.9]"];
+n245_0 -> 245 [label="[0.09999999999999998,0.2999999999999999]"];
+246 [label="246"];
+246 -> n246_0 [label="0:choose_e",arrowhead="none"];
+n246_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n246_0 -> 246 [label="[0.09999999999999998,0.2999999999999999]"];
+n246_0 -> 250 [label="[0.7000000000000001,0.9]"];
+246 -> n246_1 [label="1:choose_s",arrowhead="none"];
+n246_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n246_1 -> 246 [label="[0.09999999999999998,0.2999999999999999]"];
+n246_1 -> 251 [label="[0.7000000000000001,0.9]"];
+246 -> n246_2 [label="2:choose_n",arrowhead="none"];
+n246_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n246_2 -> 246 [label="[0.09999999999999998,0.2999999999999999]"];
+n246_2 -> 252 [label="[0.7000000000000001,0.9]"];
+246 -> n246_3 [label="3:choose_w",arrowhead="none"];
+n246_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n246_3 -> 246 [label="[0.09999999999999998,0.2999999999999999]"];
+n246_3 -> 253 [label="[0.7000000000000001,0.9]"];
+247 [label="247"];
+247 -> n247_0 [label="0:choose_e",arrowhead="none"];
+n247_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n247_0 -> 247 [label="[0.09999999999999998,0.2999999999999999]"];
+n247_0 -> 250 [label="[0.7000000000000001,0.9]"];
+247 -> n247_1 [label="1:choose_s",arrowhead="none"];
+n247_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n247_1 -> 247 [label="[0.09999999999999998,0.2999999999999999]"];
+n247_1 -> 251 [label="[0.7000000000000001,0.9]"];
+247 -> n247_2 [label="2:choose_n",arrowhead="none"];
+n247_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n247_2 -> 247 [label="[0.09999999999999998,0.2999999999999999]"];
+n247_2 -> 252 [label="[0.7000000000000001,0.9]"];
+247 -> n247_3 [label="3:choose_w",arrowhead="none"];
+n247_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n247_3 -> 247 [label="[0.09999999999999998,0.2999999999999999]"];
+n247_3 -> 253 [label="[0.7000000000000001,0.9]"];
+248 [label="248"];
+248 -> n248_0 [label="0:choose_e",arrowhead="none"];
+n248_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n248_0 -> 248 [label="[0.09999999999999998,0.2999999999999999]"];
+n248_0 -> 250 [label="[0.7000000000000001,0.9]"];
+248 -> n248_1 [label="1:choose_s",arrowhead="none"];
+n248_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n248_1 -> 248 [label="[0.09999999999999998,0.2999999999999999]"];
+n248_1 -> 251 [label="[0.7000000000000001,0.9]"];
+248 -> n248_2 [label="2:choose_n",arrowhead="none"];
+n248_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n248_2 -> 248 [label="[0.09999999999999998,0.2999999999999999]"];
+n248_2 -> 252 [label="[0.7000000000000001,0.9]"];
+248 -> n248_3 [label="3:choose_w",arrowhead="none"];
+n248_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n248_3 -> 248 [label="[0.09999999999999998,0.2999999999999999]"];
+n248_3 -> 253 [label="[0.7000000000000001,0.9]"];
+249 [label="249"];
+249 -> n249_0 [label="0:choose_e",arrowhead="none"];
+n249_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n249_0 -> 249 [label="[0.09999999999999998,0.2999999999999999]"];
+n249_0 -> 250 [label="[0.7000000000000001,0.9]"];
+249 -> n249_1 [label="1:choose_s",arrowhead="none"];
+n249_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n249_1 -> 249 [label="[0.09999999999999998,0.2999999999999999]"];
+n249_1 -> 251 [label="[0.7000000000000001,0.9]"];
+249 -> n249_2 [label="2:choose_n",arrowhead="none"];
+n249_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n249_2 -> 249 [label="[0.09999999999999998,0.2999999999999999]"];
+n249_2 -> 252 [label="[0.7000000000000001,0.9]"];
+249 -> n249_3 [label="3:choose_w",arrowhead="none"];
+n249_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n249_3 -> 249 [label="[0.09999999999999998,0.2999999999999999]"];
+n249_3 -> 253 [label="[0.7000000000000001,0.9]"];
+250 [label="250"];
+250 -> n250_0 [label="0:forward",arrowhead="none"];
+n250_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n250_0 -> 254 [label="[1,1]"];
+251 [label="251"];
+251 -> n251_0 [label="0:forward",arrowhead="none"];
+n251_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n251_0 -> 255 [label="[1,1]"];
+252 [label="252"];
+252 -> n252_0 [label="0:forward",arrowhead="none"];
+n252_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n252_0 -> 256 [label="[1,1]"];
+253 [label="253"];
+253 -> n253_0 [label="0:forward",arrowhead="none"];
+n253_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n253_0 -> 257 [label="[1,1]"];
+254 [label="254"];
+254 -> n254_0 [label="0:forward",arrowhead="none"];
+n254_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n254_0 -> 258 [label="[1,1]"];
+255 [label="255"];
+255 -> n255_0 [label="0:forward",arrowhead="none"];
+n255_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n255_0 -> 259 [label="[1,1]"];
+256 [label="256"];
+256 -> n256_0 [label="0:forward",arrowhead="none"];
+n256_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n256_0 -> 260 [label="[1,1]"];
+257 [label="257"];
+257 -> n257_0 [label="0:forward",arrowhead="none"];
+n257_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n257_0 -> 261 [label="[1,1]"];
+258 [label="258"];
+258 -> n258_0 [label="0:forward",arrowhead="none"];
+n258_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n258_0 -> 262 [label="[1,1]"];
+259 [label="259"];
+259 -> n259_0 [label="0:forward",arrowhead="none"];
+n259_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n259_0 -> 263 [label="[1,1]"];
+260 [label="260"];
+260 -> n260_0 [label="0:forward",arrowhead="none"];
+n260_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n260_0 -> 264 [label="[1,1]"];
+261 [label="261"];
+261 -> n261_0 [label="0:forward",arrowhead="none"];
+n261_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n261_0 -> 265 [label="[1,1]"];
+262 [label="262"];
+262 -> n262_0 [label="0:arrive",arrowhead="none"];
+n262_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n262_0 -> 262 [label="[0.09999999999999998,0.2999999999999999]"];
+n262_0 -> 321 [label="[0.7000000000000001,0.9]"];
+263 [label="263"];
+263 -> n263_0 [label="0:arrive",arrowhead="none"];
+n263_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n263_0 -> 263 [label="[0.09999999999999998,0.2999999999999999]"];
+n263_0 -> 267 [label="[0.7000000000000001,0.9]"];
+264 [label="264"];
+264 -> n264_0 [label="0:arrive",arrowhead="none"];
+n264_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n264_0 -> 233 [label="[0.7000000000000001,0.9]"];
+n264_0 -> 264 [label="[0.09999999999999998,0.2999999999999999]"];
+265 [label="265"];
+265 -> n265_0 [label="0:arrive",arrowhead="none"];
+n265_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n265_0 -> 173 [label="[0.7000000000000001,0.9]"];
+n265_0 -> 265 [label="[0.09999999999999998,0.2999999999999999]"];
+266 [label="266"];
+266 -> n266_0 [label="0:choose_e",arrowhead="none"];
+n266_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n266_0 -> 266 [label="[0.09999999999999998,0.2999999999999999]"];
+n266_0 -> 270 [label="[0.7000000000000001,0.9]"];
+266 -> n266_1 [label="1:choose_s",arrowhead="none"];
+n266_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n266_1 -> 266 [label="[0.09999999999999998,0.2999999999999999]"];
+n266_1 -> 271 [label="[0.7000000000000001,0.9]"];
+266 -> n266_2 [label="2:choose_n",arrowhead="none"];
+n266_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n266_2 -> 266 [label="[0.09999999999999998,0.2999999999999999]"];
+n266_2 -> 272 [label="[0.7000000000000001,0.9]"];
+266 -> n266_3 [label="3:choose_w",arrowhead="none"];
+n266_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n266_3 -> 266 [label="[0.09999999999999998,0.2999999999999999]"];
+n266_3 -> 273 [label="[0.7000000000000001,0.9]"];
+267 [label="267"];
+267 -> n267_0 [label="0:choose_e",arrowhead="none"];
+n267_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n267_0 -> 267 [label="[0.09999999999999998,0.2999999999999999]"];
+n267_0 -> 270 [label="[0.7000000000000001,0.9]"];
+267 -> n267_1 [label="1:choose_s",arrowhead="none"];
+n267_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n267_1 -> 267 [label="[0.09999999999999998,0.2999999999999999]"];
+n267_1 -> 271 [label="[0.7000000000000001,0.9]"];
+267 -> n267_2 [label="2:choose_n",arrowhead="none"];
+n267_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n267_2 -> 267 [label="[0.09999999999999998,0.2999999999999999]"];
+n267_2 -> 272 [label="[0.7000000000000001,0.9]"];
+267 -> n267_3 [label="3:choose_w",arrowhead="none"];
+n267_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n267_3 -> 267 [label="[0.09999999999999998,0.2999999999999999]"];
+n267_3 -> 273 [label="[0.7000000000000001,0.9]"];
+268 [label="268"];
+268 -> n268_0 [label="0:choose_e",arrowhead="none"];
+n268_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n268_0 -> 268 [label="[0.09999999999999998,0.2999999999999999]"];
+n268_0 -> 270 [label="[0.7000000000000001,0.9]"];
+268 -> n268_1 [label="1:choose_s",arrowhead="none"];
+n268_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n268_1 -> 268 [label="[0.09999999999999998,0.2999999999999999]"];
+n268_1 -> 271 [label="[0.7000000000000001,0.9]"];
+268 -> n268_2 [label="2:choose_n",arrowhead="none"];
+n268_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n268_2 -> 268 [label="[0.09999999999999998,0.2999999999999999]"];
+n268_2 -> 272 [label="[0.7000000000000001,0.9]"];
+268 -> n268_3 [label="3:choose_w",arrowhead="none"];
+n268_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n268_3 -> 268 [label="[0.09999999999999998,0.2999999999999999]"];
+n268_3 -> 273 [label="[0.7000000000000001,0.9]"];
+269 [label="269"];
+269 -> n269_0 [label="0:choose_e",arrowhead="none"];
+n269_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n269_0 -> 269 [label="[0.09999999999999998,0.2999999999999999]"];
+n269_0 -> 270 [label="[0.7000000000000001,0.9]"];
+269 -> n269_1 [label="1:choose_s",arrowhead="none"];
+n269_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n269_1 -> 269 [label="[0.09999999999999998,0.2999999999999999]"];
+n269_1 -> 271 [label="[0.7000000000000001,0.9]"];
+269 -> n269_2 [label="2:choose_n",arrowhead="none"];
+n269_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n269_2 -> 269 [label="[0.09999999999999998,0.2999999999999999]"];
+n269_2 -> 272 [label="[0.7000000000000001,0.9]"];
+269 -> n269_3 [label="3:choose_w",arrowhead="none"];
+n269_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n269_3 -> 269 [label="[0.09999999999999998,0.2999999999999999]"];
+n269_3 -> 273 [label="[0.7000000000000001,0.9]"];
+270 [label="270"];
+270 -> n270_0 [label="0:forward",arrowhead="none"];
+n270_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n270_0 -> 274 [label="[1,1]"];
+271 [label="271"];
+271 -> n271_0 [label="0:forward",arrowhead="none"];
+n271_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n271_0 -> 275 [label="[1,1]"];
+272 [label="272"];
+272 -> n272_0 [label="0:forward",arrowhead="none"];
+n272_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n272_0 -> 276 [label="[1,1]"];
+273 [label="273"];
+273 -> n273_0 [label="0:forward",arrowhead="none"];
+n273_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n273_0 -> 277 [label="[1,1]"];
+274 [label="274"];
+274 -> n274_0 [label="0:forward",arrowhead="none"];
+n274_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n274_0 -> 278 [label="[1,1]"];
+275 [label="275"];
+275 -> n275_0 [label="0:forward",arrowhead="none"];
+n275_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n275_0 -> 279 [label="[1,1]"];
+276 [label="276"];
+276 -> n276_0 [label="0:forward",arrowhead="none"];
+n276_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n276_0 -> 280 [label="[1,1]"];
+277 [label="277"];
+277 -> n277_0 [label="0:forward",arrowhead="none"];
+n277_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n277_0 -> 281 [label="[1,1]"];
+278 [label="278"];
+278 -> n278_0 [label="0:forward",arrowhead="none"];
+n278_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n278_0 -> 282 [label="[1,1]"];
+279 [label="279"];
+279 -> n279_0 [label="0:forward",arrowhead="none"];
+n279_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n279_0 -> 283 [label="[1,1]"];
+280 [label="280"];
+280 -> n280_0 [label="0:forward",arrowhead="none"];
+n280_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n280_0 -> 284 [label="[1,1]"];
+281 [label="281"];
+281 -> n281_0 [label="0:forward",arrowhead="none"];
+n281_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n281_0 -> 285 [label="[1,1]"];
+282 [label="282"];
+282 -> n282_0 [label="0:arrive",arrowhead="none"];
+n282_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n282_0 -> 282 [label="[0.09999999999999998,0.2999999999999999]"];
+n282_0 -> 335 [label="[0.7000000000000001,0.9]"];
+283 [label="283"];
+283 -> n283_0 [label="0:arrive",arrowhead="none"];
+n283_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n283_0 -> 283 [label="[0.09999999999999998,0.2999999999999999]"];
+n283_0 -> 287 [label="[0.7000000000000001,0.9]"];
+284 [label="284"];
+284 -> n284_0 [label="0:arrive",arrowhead="none"];
+n284_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n284_0 -> 248 [label="[0.7000000000000001,0.9]"];
+n284_0 -> 284 [label="[0.09999999999999998,0.2999999999999999]"];
+285 [label="285"];
+285 -> n285_0 [label="0:arrive",arrowhead="none"];
+n285_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n285_0 -> 193 [label="[0.7000000000000001,0.9]"];
+n285_0 -> 285 [label="[0.09999999999999998,0.2999999999999999]"];
+286 [label="286"];
+286 -> n286_0 [label="0:choose_e",arrowhead="none"];
+n286_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n286_0 -> 286 [label="[0.09999999999999998,0.2999999999999999]"];
+n286_0 -> 290 [label="[0.7000000000000001,0.9]"];
+286 -> n286_1 [label="1:choose_s",arrowhead="none"];
+n286_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n286_1 -> 286 [label="[0.09999999999999998,0.2999999999999999]"];
+n286_1 -> 291 [label="[0.7000000000000001,0.9]"];
+286 -> n286_2 [label="2:choose_n",arrowhead="none"];
+n286_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n286_2 -> 286 [label="[0.09999999999999998,0.2999999999999999]"];
+n286_2 -> 292 [label="[0.7000000000000001,0.9]"];
+286 -> n286_3 [label="3:choose_w",arrowhead="none"];
+n286_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n286_3 -> 286 [label="[0.09999999999999998,0.2999999999999999]"];
+n286_3 -> 293 [label="[0.7000000000000001,0.9]"];
+287 [label="287"];
+287 -> n287_0 [label="0:choose_e",arrowhead="none"];
+n287_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n287_0 -> 287 [label="[0.09999999999999998,0.2999999999999999]"];
+n287_0 -> 290 [label="[0.7000000000000001,0.9]"];
+287 -> n287_1 [label="1:choose_s",arrowhead="none"];
+n287_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n287_1 -> 287 [label="[0.09999999999999998,0.2999999999999999]"];
+n287_1 -> 291 [label="[0.7000000000000001,0.9]"];
+287 -> n287_2 [label="2:choose_n",arrowhead="none"];
+n287_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n287_2 -> 287 [label="[0.09999999999999998,0.2999999999999999]"];
+n287_2 -> 292 [label="[0.7000000000000001,0.9]"];
+287 -> n287_3 [label="3:choose_w",arrowhead="none"];
+n287_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n287_3 -> 287 [label="[0.09999999999999998,0.2999999999999999]"];
+n287_3 -> 293 [label="[0.7000000000000001,0.9]"];
+288 [label="288"];
+288 -> n288_0 [label="0:choose_e",arrowhead="none"];
+n288_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n288_0 -> 288 [label="[0.09999999999999998,0.2999999999999999]"];
+n288_0 -> 290 [label="[0.7000000000000001,0.9]"];
+288 -> n288_1 [label="1:choose_s",arrowhead="none"];
+n288_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n288_1 -> 288 [label="[0.09999999999999998,0.2999999999999999]"];
+n288_1 -> 291 [label="[0.7000000000000001,0.9]"];
+288 -> n288_2 [label="2:choose_n",arrowhead="none"];
+n288_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n288_2 -> 288 [label="[0.09999999999999998,0.2999999999999999]"];
+n288_2 -> 292 [label="[0.7000000000000001,0.9]"];
+288 -> n288_3 [label="3:choose_w",arrowhead="none"];
+n288_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n288_3 -> 288 [label="[0.09999999999999998,0.2999999999999999]"];
+n288_3 -> 293 [label="[0.7000000000000001,0.9]"];
+289 [label="289"];
+289 -> n289_0 [label="0:choose_e",arrowhead="none"];
+n289_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n289_0 -> 289 [label="[0.09999999999999998,0.2999999999999999]"];
+n289_0 -> 290 [label="[0.7000000000000001,0.9]"];
+289 -> n289_1 [label="1:choose_s",arrowhead="none"];
+n289_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n289_1 -> 289 [label="[0.09999999999999998,0.2999999999999999]"];
+n289_1 -> 291 [label="[0.7000000000000001,0.9]"];
+289 -> n289_2 [label="2:choose_n",arrowhead="none"];
+n289_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n289_2 -> 289 [label="[0.09999999999999998,0.2999999999999999]"];
+n289_2 -> 292 [label="[0.7000000000000001,0.9]"];
+289 -> n289_3 [label="3:choose_w",arrowhead="none"];
+n289_3 [ shape=point,width=0.1,height=0.1,label="" ];
+n289_3 -> 289 [label="[0.09999999999999998,0.2999999999999999]"];
+n289_3 -> 293 [label="[0.7000000000000001,0.9]"];
+290 [label="290"];
+290 -> n290_0 [label="0:forward",arrowhead="none"];
+n290_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n290_0 -> 294 [label="[1,1]"];
+291 [label="291"];
+291 -> n291_0 [label="0:forward",arrowhead="none"];
+n291_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n291_0 -> 295 [label="[1,1]"];
+292 [label="292"];
+292 -> n292_0 [label="0:forward",arrowhead="none"];
+n292_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n292_0 -> 296 [label="[1,1]"];
+293 [label="293"];
+293 -> n293_0 [label="0:forward",arrowhead="none"];
+n293_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n293_0 -> 297 [label="[1,1]"];
+294 [label="294"];
+294 -> n294_0 [label="0:forward",arrowhead="none"];
+n294_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n294_0 -> 298 [label="[1,1]"];
+295 [label="295"];
+295 -> n295_0 [label="0:forward",arrowhead="none"];
+n295_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n295_0 -> 299 [label="[1,1]"];
+296 [label="296"];
+296 -> n296_0 [label="0:forward",arrowhead="none"];
+n296_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n296_0 -> 300 [label="[1,1]"];
+297 [label="297"];
+297 -> n297_0 [label="0:forward",arrowhead="none"];
+n297_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n297_0 -> 301 [label="[1,1]"];
+298 [label="298"];
+298 -> n298_0 [label="0:forward",arrowhead="none"];
+n298_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n298_0 -> 302 [label="[1,1]"];
+299 [label="299"];
+299 -> n299_0 [label="0:forward",arrowhead="none"];
+n299_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n299_0 -> 303 [label="[1,1]"];
+300 [label="300"];
+300 -> n300_0 [label="0:forward",arrowhead="none"];
+n300_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n300_0 -> 304 [label="[1,1]"];
+301 [label="301"];
+301 -> n301_0 [label="0:forward",arrowhead="none"];
+n301_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n301_0 -> 305 [label="[1,1]"];
+302 [label="302"];
+302 -> n302_0 [label="0:arrive",arrowhead="none"];
+n302_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n302_0 -> 302 [label="[0.09999999999999998,0.2999999999999999]"];
+n302_0 -> 350 [label="[0.7000000000000001,0.9]"];
+303 [label="303"];
+303 -> n303_0 [label="0:arrive",arrowhead="none"];
+n303_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n303_0 -> 303 [label="[0.09999999999999998,0.2999999999999999]"];
+n303_0 -> 306 [label="[0.7000000000000001,0.9]"];
+304 [label="304"];
+304 -> n304_0 [label="0:arrive",arrowhead="none"];
+n304_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n304_0 -> 268 [label="[0.7000000000000001,0.9]"];
+n304_0 -> 304 [label="[0.09999999999999998,0.2999999999999999]"];
+305 [label="305"];
+305 -> n305_0 [label="0:arrive",arrowhead="none"];
+n305_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n305_0 -> 212 [label="[0.7000000000000001,0.9]"];
+n305_0 -> 305 [label="[0.09999999999999998,0.2999999999999999]"];
+306 [label="306"];
+306 -> n306_0 [label="0:choose_e",arrowhead="none"];
+n306_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n306_0 -> 306 [label="[0.09999999999999998,0.2999999999999999]"];
+n306_0 -> 307 [label="[0.7000000000000001,0.9]"];
+306 -> n306_1 [label="1:choose_n",arrowhead="none"];
+n306_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n306_1 -> 306 [label="[0.09999999999999998,0.2999999999999999]"];
+n306_1 -> 308 [label="[0.7000000000000001,0.9]"];
+306 -> n306_2 [label="2:choose_w",arrowhead="none"];
+n306_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n306_2 -> 306 [label="[0.09999999999999998,0.2999999999999999]"];
+n306_2 -> 309 [label="[0.7000000000000001,0.9]"];
+307 [label="307"];
+307 -> n307_0 [label="0:forward",arrowhead="none"];
+n307_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n307_0 -> 310 [label="[1,1]"];
+308 [label="308"];
+308 -> n308_0 [label="0:forward",arrowhead="none"];
+n308_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n308_0 -> 311 [label="[1,1]"];
+309 [label="309"];
+309 -> n309_0 [label="0:forward",arrowhead="none"];
+n309_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n309_0 -> 312 [label="[1,1]"];
+310 [label="310"];
+310 -> n310_0 [label="0:forward",arrowhead="none"];
+n310_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n310_0 -> 313 [label="[1,1]"];
+311 [label="311"];
+311 -> n311_0 [label="0:forward",arrowhead="none"];
+n311_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n311_0 -> 314 [label="[1,1]"];
+312 [label="312"];
+312 -> n312_0 [label="0:forward",arrowhead="none"];
+n312_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n312_0 -> 315 [label="[1,1]"];
+313 [label="313"];
+313 -> n313_0 [label="0:forward",arrowhead="none"];
+n313_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n313_0 -> 316 [label="[1,1]"];
+314 [label="314"];
+314 -> n314_0 [label="0:forward",arrowhead="none"];
+n314_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n314_0 -> 317 [label="[1,1]"];
+315 [label="315"];
+315 -> n315_0 [label="0:forward",arrowhead="none"];
+n315_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n315_0 -> 318 [label="[1,1]"];
+316 [label="316"];
+316 -> n316_0 [label="0:arrive",arrowhead="none"];
+n316_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n316_0 -> 316 [label="[0.09999999999999998,0.2999999999999999]"];
+n316_0 -> 364 [label="[0.7000000000000001,0.9]"];
+317 [label="317"];
+317 -> n317_0 [label="0:arrive",arrowhead="none"];
+n317_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n317_0 -> 288 [label="[0.7000000000000001,0.9]"];
+n317_0 -> 317 [label="[0.09999999999999998,0.2999999999999999]"];
+318 [label="318"];
+318 -> n318_0 [label="0:arrive",arrowhead="none"];
+n318_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n318_0 -> 231 [label="[0.7000000000000001,0.9]"];
+n318_0 -> 318 [label="[0.09999999999999998,0.2999999999999999]"];
+319 [label="319"];
+319 -> n319_0 [label="0:trap",arrowhead="none"];
+n319_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n319_0 -> 319 [label="[1,1]"];
+320 [label="320"];
+320 -> n320_0 [label="0:trap",arrowhead="none"];
+n320_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n320_0 -> 320 [label="[1,1]"];
+321 [label="321"];
+321 -> n321_0 [label="0:choose_s",arrowhead="none"];
+n321_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n321_0 -> 321 [label="[0.09999999999999998,0.2999999999999999]"];
+n321_0 -> 323 [label="[0.7000000000000001,0.9]"];
+321 -> n321_1 [label="1:choose_n",arrowhead="none"];
+n321_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n321_1 -> 321 [label="[0.09999999999999998,0.2999999999999999]"];
+n321_1 -> 324 [label="[0.7000000000000001,0.9]"];
+321 -> n321_2 [label="2:choose_w",arrowhead="none"];
+n321_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n321_2 -> 321 [label="[0.09999999999999998,0.2999999999999999]"];
+n321_2 -> 325 [label="[0.7000000000000001,0.9]"];
+322 [label="322"];
+322 -> n322_0 [label="0:choose_s",arrowhead="none"];
+n322_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n322_0 -> 322 [label="[0.09999999999999998,0.2999999999999999]"];
+n322_0 -> 323 [label="[0.7000000000000001,0.9]"];
+322 -> n322_1 [label="1:choose_n",arrowhead="none"];
+n322_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n322_1 -> 322 [label="[0.09999999999999998,0.2999999999999999]"];
+n322_1 -> 324 [label="[0.7000000000000001,0.9]"];
+322 -> n322_2 [label="2:choose_w",arrowhead="none"];
+n322_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n322_2 -> 322 [label="[0.09999999999999998,0.2999999999999999]"];
+n322_2 -> 325 [label="[0.7000000000000001,0.9]"];
+323 [label="323"];
+323 -> n323_0 [label="0:forward",arrowhead="none"];
+n323_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n323_0 -> 326 [label="[1,1]"];
+324 [label="324"];
+324 -> n324_0 [label="0:forward",arrowhead="none"];
+n324_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n324_0 -> 327 [label="[1,1]"];
+325 [label="325"];
+325 -> n325_0 [label="0:forward",arrowhead="none"];
+n325_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n325_0 -> 328 [label="[1,1]"];
+326 [label="326"];
+326 -> n326_0 [label="0:forward",arrowhead="none"];
+n326_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n326_0 -> 329 [label="[1,1]"];
+327 [label="327"];
+327 -> n327_0 [label="0:forward",arrowhead="none"];
+n327_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n327_0 -> 330 [label="[1,1]"];
+328 [label="328"];
+328 -> n328_0 [label="0:forward",arrowhead="none"];
+n328_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n328_0 -> 331 [label="[1,1]"];
+329 [label="329"];
+329 -> n329_0 [label="0:forward",arrowhead="none"];
+n329_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n329_0 -> 332 [label="[1,1]"];
+330 [label="330"];
+330 -> n330_0 [label="0:forward",arrowhead="none"];
+n330_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n330_0 -> 333 [label="[1,1]"];
+331 [label="331"];
+331 -> n331_0 [label="0:forward",arrowhead="none"];
+n331_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n331_0 -> 334 [label="[1,1]"];
+332 [label="332"];
+332 -> n332_0 [label="0:arrive",arrowhead="none"];
+n332_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n332_0 -> 332 [label="[0.09999999999999998,0.2999999999999999]"];
+n332_0 -> 336 [label="[0.7000000000000001,0.9]"];
+333 [label="333"];
+333 -> n333_0 [label="0:arrive",arrowhead="none"];
+n333_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n333_0 -> 320 [label="[0.7000000000000001,0.9]"];
+n333_0 -> 333 [label="[0.09999999999999998,0.2999999999999999]"];
+334 [label="334"];
+334 -> n334_0 [label="0:arrive",arrowhead="none"];
+n334_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n334_0 -> 249 [label="[0.7000000000000001,0.9]"];
+n334_0 -> 334 [label="[0.09999999999999998,0.2999999999999999]"];
+335 [label="335"];
+335 -> n335_0 [label="0:choose_s",arrowhead="none"];
+n335_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n335_0 -> 335 [label="[0.09999999999999998,0.2999999999999999]"];
+n335_0 -> 338 [label="[0.7000000000000001,0.9]"];
+335 -> n335_1 [label="1:choose_n",arrowhead="none"];
+n335_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n335_1 -> 335 [label="[0.09999999999999998,0.2999999999999999]"];
+n335_1 -> 339 [label="[0.7000000000000001,0.9]"];
+335 -> n335_2 [label="2:choose_w",arrowhead="none"];
+n335_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n335_2 -> 335 [label="[0.09999999999999998,0.2999999999999999]"];
+n335_2 -> 340 [label="[0.7000000000000001,0.9]"];
+336 [label="336"];
+336 -> n336_0 [label="0:choose_s",arrowhead="none"];
+n336_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n336_0 -> 336 [label="[0.09999999999999998,0.2999999999999999]"];
+n336_0 -> 338 [label="[0.7000000000000001,0.9]"];
+336 -> n336_1 [label="1:choose_n",arrowhead="none"];
+n336_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n336_1 -> 336 [label="[0.09999999999999998,0.2999999999999999]"];
+n336_1 -> 339 [label="[0.7000000000000001,0.9]"];
+336 -> n336_2 [label="2:choose_w",arrowhead="none"];
+n336_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n336_2 -> 336 [label="[0.09999999999999998,0.2999999999999999]"];
+n336_2 -> 340 [label="[0.7000000000000001,0.9]"];
+337 [label="337"];
+337 -> n337_0 [label="0:choose_s",arrowhead="none"];
+n337_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n337_0 -> 337 [label="[0.09999999999999998,0.2999999999999999]"];
+n337_0 -> 338 [label="[0.7000000000000001,0.9]"];
+337 -> n337_1 [label="1:choose_n",arrowhead="none"];
+n337_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n337_1 -> 337 [label="[0.09999999999999998,0.2999999999999999]"];
+n337_1 -> 339 [label="[0.7000000000000001,0.9]"];
+337 -> n337_2 [label="2:choose_w",arrowhead="none"];
+n337_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n337_2 -> 337 [label="[0.09999999999999998,0.2999999999999999]"];
+n337_2 -> 340 [label="[0.7000000000000001,0.9]"];
+338 [label="338"];
+338 -> n338_0 [label="0:forward",arrowhead="none"];
+n338_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n338_0 -> 341 [label="[1,1]"];
+339 [label="339"];
+339 -> n339_0 [label="0:forward",arrowhead="none"];
+n339_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n339_0 -> 342 [label="[1,1]"];
+340 [label="340"];
+340 -> n340_0 [label="0:forward",arrowhead="none"];
+n340_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n340_0 -> 343 [label="[1,1]"];
+341 [label="341"];
+341 -> n341_0 [label="0:forward",arrowhead="none"];
+n341_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n341_0 -> 344 [label="[1,1]"];
+342 [label="342"];
+342 -> n342_0 [label="0:forward",arrowhead="none"];
+n342_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n342_0 -> 345 [label="[1,1]"];
+343 [label="343"];
+343 -> n343_0 [label="0:forward",arrowhead="none"];
+n343_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n343_0 -> 346 [label="[1,1]"];
+344 [label="344"];
+344 -> n344_0 [label="0:forward",arrowhead="none"];
+n344_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n344_0 -> 347 [label="[1,1]"];
+345 [label="345"];
+345 -> n345_0 [label="0:forward",arrowhead="none"];
+n345_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n345_0 -> 348 [label="[1,1]"];
+346 [label="346"];
+346 -> n346_0 [label="0:forward",arrowhead="none"];
+n346_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n346_0 -> 349 [label="[1,1]"];
+347 [label="347"];
+347 -> n347_0 [label="0:arrive",arrowhead="none"];
+n347_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n347_0 -> 347 [label="[0.09999999999999998,0.2999999999999999]"];
+n347_0 -> 351 [label="[0.7000000000000001,0.9]"];
+348 [label="348"];
+348 -> n348_0 [label="0:arrive",arrowhead="none"];
+n348_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n348_0 -> 322 [label="[0.7000000000000001,0.9]"];
+n348_0 -> 348 [label="[0.09999999999999998,0.2999999999999999]"];
+349 [label="349"];
+349 -> n349_0 [label="0:arrive",arrowhead="none"];
+n349_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n349_0 -> 269 [label="[0.7000000000000001,0.9]"];
+n349_0 -> 349 [label="[0.09999999999999998,0.2999999999999999]"];
+350 [label="350"];
+350 -> n350_0 [label="0:choose_s",arrowhead="none"];
+n350_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n350_0 -> 350 [label="[0.09999999999999998,0.2999999999999999]"];
+n350_0 -> 352 [label="[0.7000000000000001,0.9]"];
+350 -> n350_1 [label="1:choose_n",arrowhead="none"];
+n350_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n350_1 -> 350 [label="[0.09999999999999998,0.2999999999999999]"];
+n350_1 -> 353 [label="[0.7000000000000001,0.9]"];
+350 -> n350_2 [label="2:choose_w",arrowhead="none"];
+n350_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n350_2 -> 350 [label="[0.09999999999999998,0.2999999999999999]"];
+n350_2 -> 354 [label="[0.7000000000000001,0.9]"];
+351 [label="351"];
+351 -> n351_0 [label="0:choose_s",arrowhead="none"];
+n351_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n351_0 -> 351 [label="[0.09999999999999998,0.2999999999999999]"];
+n351_0 -> 352 [label="[0.7000000000000001,0.9]"];
+351 -> n351_1 [label="1:choose_n",arrowhead="none"];
+n351_1 [ shape=point,width=0.1,height=0.1,label="" ];
+n351_1 -> 351 [label="[0.09999999999999998,0.2999999999999999]"];
+n351_1 -> 353 [label="[0.7000000000000001,0.9]"];
+351 -> n351_2 [label="2:choose_w",arrowhead="none"];
+n351_2 [ shape=point,width=0.1,height=0.1,label="" ];
+n351_2 -> 351 [label="[0.09999999999999998,0.2999999999999999]"];
+n351_2 -> 354 [label="[0.7000000000000001,0.9]"];
+352 [label="352"];
+352 -> n352_0 [label="0:forward",arrowhead="none"];
+n352_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n352_0 -> 355 [label="[1,1]"];
+353 [label="353"];
+353 -> n353_0 [label="0:forward",arrowhead="none"];
+n353_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n353_0 -> 356 [label="[1,1]"];
+354 [label="354"];
+354 -> n354_0 [label="0:forward",arrowhead="none"];
+n354_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n354_0 -> 357 [label="[1,1]"];
+355 [label="355"];
+355 -> n355_0 [label="0:forward",arrowhead="none"];
+n355_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n355_0 -> 358 [label="[1,1]"];
+356 [label="356"];
+356 -> n356_0 [label="0:forward",arrowhead="none"];
+n356_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n356_0 -> 359 [label="[1,1]"];
+357 [label="357"];
+357 -> n357_0 [label="0:forward",arrowhead="none"];
+n357_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n357_0 -> 360 [label="[1,1]"];
+358 [label="358"];
+358 -> n358_0 [label="0:forward",arrowhead="none"];
+n358_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n358_0 -> 361 [label="[1,1]"];
+359 [label="359"];
+359 -> n359_0 [label="0:forward",arrowhead="none"];
+n359_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n359_0 -> 362 [label="[1,1]"];
+360 [label="360"];
+360 -> n360_0 [label="0:forward",arrowhead="none"];
+n360_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n360_0 -> 363 [label="[1,1]"];
+361 [label="361"];
+361 -> n361_0 [label="0:arrive",arrowhead="none"];
+n361_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n361_0 -> 361 [label="[0.09999999999999998,0.2999999999999999]"];
+n361_0 -> 365 [label="[0.7000000000000001,0.9]"];
+362 [label="362"];
+362 -> n362_0 [label="0:arrive",arrowhead="none"];
+n362_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n362_0 -> 337 [label="[0.7000000000000001,0.9]"];
+n362_0 -> 362 [label="[0.09999999999999998,0.2999999999999999]"];
+363 [label="363"];
+363 -> n363_0 [label="0:arrive",arrowhead="none"];
+n363_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n363_0 -> 289 [label="[0.7000000000000001,0.9]"];
+n363_0 -> 363 [label="[0.09999999999999998,0.2999999999999999]"];
+364 [label="364"];
+364 -> n364_0 [label="0:goal",arrowhead="none"];
+n364_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n364_0 -> 364 [label="[1,1]"];
+365 [label="365"];
+365 -> n365_0 [label="0:goal",arrowhead="none"];
+n365_0 [ shape=point,width=0.1,height=0.1,label="" ];
+n365_0 -> 365 [label="[1,1]"];
+}
diff --git a/ov-10x10.prism b/ov-10x10.prism
new file mode 100644
index 0000000000..109983c6fa
--- /dev/null
+++ b/ov-10x10.prism
@@ -0,0 +1,76 @@
+mdp
+
+//─── PARAMETERS ────────────────────────────────────────────────────────────────
+const int N = 10; // grid size: 0..N-1 in both x and y
+const double p = 0.8; // probability of moving in intended direction
+ // slip to each of the other 3 directions with (1-p)/3
+const double e = 0.05;
+
+//─── HOLES & GOAL ──────────────────────────────────────────────────────────────
+// 10×10 layout; S = start, F = frozen, H = hole, G = goal
+// (holes placed at various locations to create challenge)
+formula hole = (x=1 & y=0)
+ | (x=2 & y=3)
+ | (x=3 & y=6)
+ | (x=4 & y=2)
+ | (x=5 & y=5)
+ | (x=6 & y=1)
+ | (x=7 & y=7)
+ | (x=2 & y=8)
+ | (x=8 & y=4)
+ | (x=4 & y=9);
+
+formula goal = (x=9 & y=9);
+formula terminal = hole | goal;
+
+//─── MODULE ───────────────────────────────────────────────────────────────────
+module frozenlake
+ x : [0..N-1] init 0; // column
+ y : [0..N-1] init 0; // row
+
+ //──– North ───────────────────────────────────────────────────────────────
+ [north] !terminal & !goal ->
+ [p-e, p+e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1));
+
+ //──– South ───────────────────────────────────────────────────────────────
+ [south] !terminal & !goal ->
+ [p-e, p+e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0));
+
+ //──– East ────────────────────────────────────────────────────────────────
+ [east] !terminal & !goal ->
+ [p-e, p+e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0));
+
+ //──– West ────────────────────────────────────────────────────────────────
+ [west] !terminal & !goal ->
+ [p-e, p+e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1));
+
+ //──– At terminal (hole or goal), stay where you are ───────────────────────
+ [getTrap] terminal -> 1.0 : (x'=x) & (y'=y);
+ [done] goal -> true;
+endmodule
+
+//─── LABELS ───────────────────────────────────────────────────────────────────
+label "start" = (x=0 & y=0);
+label "Crash" = hole;
+label "goal" = goal;
+label "safe" = !hole & !goal;
+
+//─── REWARDS ─────────────────────────────────────────────────────────────────
+rewards
+ [north] !terminal & !goal : 1;
+ [south] !terminal & !goal : 1;
+ [east] !terminal & !goal : 1;
+ [west] !terminal & !goal : 1;
+endrewards
diff --git a/ov-6x6.prism b/ov-6x6.prism
new file mode 100644
index 0000000000..7de8c029f4
--- /dev/null
+++ b/ov-6x6.prism
@@ -0,0 +1,86 @@
+mdp
+
+//─── PARAMETERS ────────────────────────────────────────────────────────────────
+const int N = 6; // grid size: 0..N-1 in both x and y
+const int K = 100; // # of intermediate sub-steps per move
+const double p = 0.8; // intended-direction probability
+const double e = 0.03; // slip‐interval half-width
+
+//─── HOLES & GOAL ──────────────────────────────────────────────────────────────
+formula hole = (x=1 & y=0)
+ | (x=1 & y=3)
+ | (x=2 & y=4)
+ | (x=3 & y=2)
+ | (x=4 & y=1)
+ | (x=4 & y=4);
+formula goal = (x=5 & y=5);
+formula terminal = hole | goal;
+
+//─── MODULE ────────────────────────────────────────────────────────────────────
+module frozenlake
+
+ // “true” state
+ x : [0..N-1] init 0; // column
+ y : [0..N-1] init 0; // row
+
+ // internal bookkeeping for a “multi-step” move
+ tx : [0..N-1] init 0; // target column
+ ty : [0..N-1] init 0; // target row
+ step: [0..K] init 0; // current sub-step (0 = ready to pick a direction)
+
+ //── Initial direction choice (step=0) ────────────────────────────────────────
+ [north] step=0 & !terminal ->
+ // intended north
+ [p-e, p+e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1) +
+ // slip west
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1) +
+ // slip east
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1) +
+ // slip south
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1);
+
+ [south] step=0 & !terminal ->
+ [p-e, p+e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1);
+
+ [east] step=0 & !terminal ->
+ [p-e, p+e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1);
+
+ [west] step=0 & !terminal ->
+ [p-e, p+e] : (tx'=max(x-1,0)) & (ty'=y) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=max(y-1,0)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=x) & (ty'=min(y+1,N-1)) & (step'=1) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (tx'=min(x+1,N-1)) & (ty'=y) & (step'=1);
+
+ //── Substep “in-flight” transitions ─────────────────────────────────────────
+ // for 1 ≤ step < K, only one action: advance sub-step
+ [move] step>0 & step 1.0 : (step'=step+1);
+
+ // at step=K commit the move into (x,y) and reset
+ [move] step=K -> 1.0 : (x'=tx) & (y'=ty) & (step'=0);
+
+ //── Terminal self-loops ─────────────────────────────────────────────────────
+ [getTrap] terminal -> 1.0 : (x'=x) & (y'=y) & (step'=0);
+ [done] goal & step = 0 -> true;
+
+endmodule
+
+//─── LABELS ───────────────────────────────────────────────────────────────────
+label "start" = (x=0 & y=0) & step=0;
+label "Crash" = hole;
+label "goal" = goal & step=0;
+label "safe" = !hole & !goal;
+
+//─── REWARDS ─────────────────────────────────────────────────────────────────
+rewards
+ // count 1 reward per *grid-to-grid* move (i.e. when you pick a direction at step=0)
+ [north] step=0 & !terminal : 1;
+ [south] step=0 & !terminal : 1;
+ [east] step=0 & !terminal : 1;
+ [west] step=0 & !terminal : 1;
+endrewards
diff --git a/ov-v2-10x10.prism b/ov-v2-10x10.prism
new file mode 100644
index 0000000000..3b8ee7586b
--- /dev/null
+++ b/ov-v2-10x10.prism
@@ -0,0 +1,76 @@
+mdp
+
+//─── PARAMETERS ────────────────────────────────────────────────────────────────
+const int N = 10; // grid size: 0..N-1 in both x and y
+const double p = 0.8; // probability of moving in intended direction
+ // slip to each of the other 3 directions with (1-p)/3
+const double e = 0.05; // uncertainty radius
+
+//─── HOLES & GOAL ──────────────────────────────────────────────────────────────
+// original holes plus four new traps
+formula hole =
+ (x=1 & y=0)
+ | (x=1 & y=3)
+ | (x=2 & y=4)
+ | (x=3 & y=2)
+ | (x=4 & y=1)
+ | (x=4 & y=4)
+ | (x=2 & y=2) // new
+ | (x=3 & y=7) // new
+ | (x=6 & y=3) // new
+ | (x=8 & y=6); // new
+
+formula goal = (x=9 & y=9);
+formula terminal = hole | goal;
+
+//─── MODULE ───────────────────────────────────────────────────────────────────
+module frozenlake
+ x : [0..N-1] init 0; // column
+ y : [0..N-1] init 0; // row
+
+ //─── North ───────────────────────────────────────────────────────────────
+ [north] !terminal & !goal->
+ [p-e,p+e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1));
+
+ //─── South ───────────────────────────────────────────────────────────────
+ [south] !terminal & !goal ->
+ [p-e,p+e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0));
+
+ //─── East ────────────────────────────────────────────────────────────────
+ [east] !terminal & !goal->
+ [p-e,p+e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0));
+
+ //─── West ────────────────────────────────────────────────────────────────
+ [west] !terminal & !goal ->
+ [p-e,p+e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1));
+
+ //─── At terminal (hole or goal), stay in place ────────────────────────────
+ [getTrap] terminal -> 1.0 : (x'=x) & (y'=y);
+ [done] goal -> true;
+endmodule
+
+//─── LABELS ───────────────────────────────────────────────────────────────────
+label "start" = (x=0 & y=0);
+label "Crash" = hole;
+label "goal" = goal;
+label "safe" = !hole & !goal;
+
+//─── REWARDS ──────────────────────────────────────────────────────────────────
+rewards
+ [north] !terminal : 1;
+ [south] !terminal : 1;
+ [east] !terminal : 1;
+ [west] !terminal : 1;
+endrewards
diff --git a/ov-v2-6x6.prism b/ov-v2-6x6.prism
new file mode 100644
index 0000000000..dd2edc75f3
--- /dev/null
+++ b/ov-v2-6x6.prism
@@ -0,0 +1,74 @@
+mdp
+
+//─── PARAMETERS ────────────────────────────────────────────────────────────────
+const int N = 6; // grid size: 0..N-1 in both x and y
+const double p = 0.8; // probability of moving in intended direction
+ // slip to each of the other 3 directions with (1-p)/3
+const double e = 0.05;
+
+//─── HOLES & GOAL ──────────────────────────────────────────────────────────────
+// standard 4×4 layout:
+// S F F F
+// H F H F
+// F F F H
+// H F F G
+formula hole = (x=1 & y=0)
+ | (x=1 & y=3)
+ | (x=2 & y=4)
+ | (x=3 & y=2)
+ | (x=4 & y=1)
+ | (x=4 & y=4);
+formula goal = (x=5 & y=5);
+formula terminal = hole | goal;
+
+//─── MODULE ────────────────────────────────────────────────────────────────────
+module frozenlake
+ x : [0..N-1] init 0; // column
+ y : [0..N-1] init 0; // row
+
+ //──– North ───────────────────────────────────────────────────────────
+ [north] !terminal & !goal ->
+ [p-e,p+e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1));
+
+ //──– South ───────────────────────────────────────────────────────────
+ [south] !terminal & !goal ->
+ [p-e,p+e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0));
+
+ //──– East ────────────────────────────────────────────────────────────
+ [east] !terminal & !goal->
+ [p-e,p+e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0));
+
+ //──– West ────────────────────────────────────────────────────────────
+ [west] !terminal & !goal->
+ [p-e,p+e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1));
+
+ //──– At terminal (hole or goal), stay where you are ─────────────────
+ [getTrap] terminal -> 1.0 : (x'=x) & (y'=y);
+
+ [done] goal -> true;
+endmodule
+
+//─── LABELS ───────────────────────────────────────────────────────────────────
+label "start" = (x=0 & y=0);
+label "Crash" = hole;
+label "goal" = goal;
+label "safe" = !hole & !goal;
+
+rewards
+ [north] !terminal & !goal : 1;
+ [west] !terminal & !goal : 1;
+ [east] !terminal & !goal : 1;
+ [south] !terminal & !goal : 1;
+endrewards
diff --git a/ov-v2-7x7.prism b/ov-v2-7x7.prism
new file mode 100644
index 0000000000..b8aeaf89a2
--- /dev/null
+++ b/ov-v2-7x7.prism
@@ -0,0 +1,76 @@
+mdp
+
+//─── PARAMETERS ────────────────────────────────────────────────────────────────
+const int N = 7; // grid size: 0..N-1 in both x and y
+const double p = 0.8; // probability of moving in intended direction
+ // slip to each of the other 3 directions with (1-p)/3
+const double e = 0.05; // uncertainty radius
+
+//─── HOLES & GOAL ──────────────────────────────────────────────────────────────
+// original holes plus four new traps, adjusted for 0..6 range
+formula hole =
+ (x=1 & y=0)
+ | (x=1 & y=3)
+ | (x=2 & y=4)
+ | (x=3 & y=2)
+ | (x=4 & y=1)
+ | (x=4 & y=4)
+ | (x=2 & y=2) // new
+ | (x=3 & y=6) // new (top row)
+ | (x=6 & y=3) // new
+ | (x=5 & y=6); // new
+
+formula goal = (x=6 & y=6);
+formula terminal = hole | goal;
+
+//─── MODULE ───────────────────────────────────────────────────────────────────
+module frozenlake
+ x : [0..N-1] init 0; // column
+ y : [0..N-1] init 0; // row
+
+ //─── North ───────────────────────────────────────────────────────────────
+ [north] !terminal & !goal ->
+ [p-e,p+e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1));
+
+ //─── South ───────────────────────────────────────────────────────────────
+ [south] !terminal & !goal ->
+ [p-e,p+e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0));
+
+ //─── East ────────────────────────────────────────────────────────────────
+ [east] !terminal & !goal ->
+ [p-e,p+e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0));
+
+ //─── West ────────────────────────────────────────────────────────────────
+ [west] !terminal & !goal ->
+ [p-e,p+e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1));
+
+ //─── At terminal (hole or goal), stay in place ────────────────────────────
+ [getTrap] terminal -> 1.0 : (x'=x) & (y'=y);
+ [done] goal -> true;
+endmodule
+
+//─── LABELS ───────────────────────────────────────────────────────────────────
+label "start" = (x=0 & y=0);
+label "Crash" = hole;
+label "goal" = goal;
+label "safe" = !hole & !goal;
+
+//─── REWARDS ──────────────────────────────────────────────────────────────────
+rewards
+ [north] !terminal & !goal : 1;
+ [south] !terminal & !goal : 1;
+ [east] !terminal & !goal : 1;
+ [west] !terminal & !goal : 1;
+endrewards
diff --git a/ov-v2-8x8.prism b/ov-v2-8x8.prism
new file mode 100644
index 0000000000..9d184f19b1
--- /dev/null
+++ b/ov-v2-8x8.prism
@@ -0,0 +1,76 @@
+mdp
+
+//─── PARAMETERS ────────────────────────────────────────────────────────────────
+const int N = 8; // grid size: 0..N-1 in both x and y
+const double p = 0.8; // probability of moving in intended direction
+ // slip to each of the other 3 directions with (1-p)/3
+const double e = 0.05; // uncertainty radius
+
+//─── HOLES & GOAL ──────────────────────────────────────────────────────────────
+// original holes plus four new traps, adjusted for 0..7 range
+formula hole =
+ (x=1 & y=0)
+ | (x=1 & y=3)
+ | (x=2 & y=4)
+ | (x=3 & y=2)
+ | (x=4 & y=1)
+ | (x=4 & y=4)
+ | (x=2 & y=2) // new
+ | (x=3 & y=7) // new (top row)
+ | (x=6 & y=3) // new
+ | (x=7 & y=6); // new (shifted from (8,6))
+
+formula goal = (x=7 & y=7);
+formula terminal = hole | goal;
+
+//─── MODULE ───────────────────────────────────────────────────────────────────
+module frozenlake
+ x : [0..N-1] init 0; // column
+ y : [0..N-1] init 0; // row
+
+ //─── North ───────────────────────────────────────────────────────────────
+ [north] !terminal & !goal ->
+ [p-e,p+e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1));
+
+ //─── South ───────────────────────────────────────────────────────────────
+ [south] !terminal & !goal ->
+ [p-e,p+e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0));
+
+ //─── East ────────────────────────────────────────────────────────────────
+ [east] !terminal & !goal ->
+ [p-e,p+e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0));
+
+ //─── West ────────────────────────────────────────────────────────────────
+ [west] !terminal & !goal ->
+ [p-e,p+e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1));
+
+ //─── At terminal (hole or goal), stay in place ────────────────────────────
+ [getTrap] terminal -> 1.0 : (x'=x) & (y'=y);
+ [done] goal -> true;
+endmodule
+
+//─── LABELS ───────────────────────────────────────────────────────────────────
+label "start" = (x=0 & y=0);
+label "Crash" = hole;
+label "goal" = goal;
+label "safe" = !hole & !goal;
+
+//─── REWARDS ──────────────────────────────────────────────────────────────────
+rewards
+ [north] !terminal : 1;
+ [south] !terminal : 1;
+ [east] !terminal : 1;
+ [west] !terminal : 1;
+endrewards
diff --git a/ov.prism b/ov.prism
new file mode 100644
index 0000000000..c192af7ced
--- /dev/null
+++ b/ov.prism
@@ -0,0 +1,74 @@
+mdp
+
+//─── PARAMETERS ────────────────────────────────────────────────────────────────
+const int N = 4; // grid size: 0..N-1 in both x and y
+const double p = 0.8; // probability of moving in intended direction
+ // slip to each of the other 3 directions with (1-p)/3
+const double e = 0.05;
+
+//─── HOLES & GOAL ──────────────────────────────────────────────────────────────
+// standard 4×4 layout:
+// S F F F
+// H F H F
+// F F F H
+// H F F G
+formula hole = (x=1 & y=0)
+ | (x=1 & y=3)
+ | (x=2 & y=4)
+ | (x=3 & y=2)
+ | (x=4 & y=1)
+ | (x=4 & y=4);
+formula goal = (x=5 & y=5);
+formula terminal = hole | goal;
+
+//─── MODULE ────────────────────────────────────────────────────────────────────
+module frozenlake
+ x : [0..N-1] init 0; // column
+ y : [0..N-1] init 0; // row
+
+ //──– North ───────────────────────────────────────────────────────────
+ [north] !terminal & !goal ->
+ [p-e,p+e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1));
+
+ //──– South ───────────────────────────────────────────────────────────
+ [south] !terminal & !goal ->
+ [p-e,p+e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0));
+
+ //──– East ────────────────────────────────────────────────────────────
+ [east] !terminal & !goal->
+ [p-e,p+e] : (x'=min(x+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=max(x-1,0));
+
+ //──– West ────────────────────────────────────────────────────────────
+ [west] !terminal & !goal->
+ [p-e,p+e] : (x'=max(x-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=max(y-1,0)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (y'=min(y+1,N-1)) +
+ [(1-p)/3 - e, (1-p)/3 + e] : (x'=min(x+1,N-1));
+
+ //──– At terminal (hole or goal), stay where you are ─────────────────
+ [getTrap] terminal -> 1.0 : (x'=x) & (y'=y);
+
+ [done] goal -> true;
+endmodule
+
+//─── LABELS ───────────────────────────────────────────────────────────────────
+label "start" = (x=0 & y=0);
+label "Crash" = hole;
+label "goal" = goal;
+label "safe" = !hole & !goal;
+
+rewards
+ [north] !terminal & !goal : 1;
+ [west] !terminal & !goal : 1;
+ [east] !terminal & !goal : 1;
+ [south] !terminal & !goal : 1;
+endrewards
diff --git a/prism-examples/imdps/simple/robot.prism b/prism-examples/imdps/simple/robot.prism
index 0b83688342..fac1136603 100644
--- a/prism-examples/imdps/simple/robot.prism
+++ b/prism-examples/imdps/simple/robot.prism
@@ -1,6 +1,6 @@
mdp
-const double delta;
+const double delta=0.2;
const double p = 0.5-delta;
const double q = 0.5+delta;
diff --git a/prism-tests/functionality/verify/mdps/reach/mdp_simple.nm.props.args b/prism-tests/functionality/verify/mdps/reach/mdp_simple.nm.props.args
index fecd1a44ec..eef11583d8 100644
--- a/prism-tests/functionality/verify/mdps/reach/mdp_simple.nm.props.args
+++ b/prism-tests/functionality/verify/mdps/reach/mdp_simple.nm.props.args
@@ -5,6 +5,7 @@
-ex -gs
-ex -politer
-ex -modpoliter
+-ex -lp
-s -ii
-m -ii
-h -ii
diff --git a/prism-tests/functionality/verify/mdps/rewards/rewpoliter.nm.props.args b/prism-tests/functionality/verify/mdps/rewards/rewpoliter.nm.props.args
index a07d393efe..8ac1eeed3b 100644
--- a/prism-tests/functionality/verify/mdps/rewards/rewpoliter.nm.props.args
+++ b/prism-tests/functionality/verify/mdps/rewards/rewpoliter.nm.props.args
@@ -4,3 +4,4 @@
-valiter -h
-valiter -ex
-gs -ex
+-gs -lp
diff --git a/prism-tests/pmc/lec13and14mdp.nm b/prism-tests/pmc/lec13and14mdp.nm
index 3a450e896a..92180962c4 100644
--- a/prism-tests/pmc/lec13and14mdp.nm
+++ b/prism-tests/pmc/lec13and14mdp.nm
@@ -16,3 +16,8 @@ s:[0..3];
endmodule
label "a" = s=2;
+
+rewards
+ [] true : 0.6;
+ true : 0.4;
+endrewards
diff --git a/prism-tests/pmc/lec13and14mdp.nm.props b/prism-tests/pmc/lec13and14mdp.nm.props
index 39c31250a9..a7ce9916ea 100644
--- a/prism-tests/pmc/lec13and14mdp.nm.props
+++ b/prism-tests/pmc/lec13and14mdp.nm.props
@@ -12,3 +12,8 @@
filter(forall, P<0.1 [ F "a" ] <=> false);
// RESULT: true
filter(forall, P>0 [ F "a" ] <=> (s=0|s=1|s=2));
+
+ // RESULT: 5/3
+ Rmin=? [ F "a" ];
+ // RESULT: Infinity
+ Rmax=? [ F "a" ];
diff --git a/prism/src/explicit/IMDPModelChecker.java b/prism/src/explicit/IMDPModelChecker.java
index 8f148fd184..0370d2809c 100644
--- a/prism/src/explicit/IMDPModelChecker.java
+++ b/prism/src/explicit/IMDPModelChecker.java
@@ -26,8 +26,22 @@
package explicit;
+import java.util.ArrayDeque;
+import java.util.ArrayList;
import java.util.BitSet;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.HashMap;
+import java.util.HashSet;
+import java.util.Iterator;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Locale;
+import java.util.Map;
import java.util.PrimitiveIterator;
+import java.util.Queue;
+import java.util.Set;
+import java.util.TreeMap;
import acceptance.AcceptanceReach;
import common.IntSet;
@@ -47,6 +61,20 @@
import strat.MDStrategyArray;
import strat.Strategy;
+import com.gurobi.gurobi.GRB;
+import com.gurobi.gurobi.GRBEnv;
+import com.gurobi.gurobi.GRBException;
+import com.gurobi.gurobi.GRBLinExpr;
+import com.gurobi.gurobi.GRBQuadExpr;
+import com.gurobi.gurobi.GRBModel;
+import com.gurobi.gurobi.GRBVar;
+import com.gurobi.gurobi.GRBConstr;
+import lpsolve.LpSolve;
+import lpsolve.LpSolveException;
+
+import explicit.trigger.*;
+
+
/**
* Explicit-state model checker for interval Markov decision prcoesses (IMDPs).
*/
@@ -591,6 +619,1921 @@ public ModelCheckerResult computeReachRewards(IMDP imdp, MDPRewards imdp, MDPRewards mdpRewards, double bound) throws PrismException
+ {
+ boolean value =true;
+ boolean min =true;
+ boolean robust=false;
+ if (value){
+ if (min){
+ return computeMultiStrategyValueMin(imdp, mdpRewards, bound, robust);
+ } else {
+ return computeMultiStrategyValueMax(imdp, mdpRewards, bound, robust);
+ }
+
+ } else {
+ if (min){
+ return computeMultiStrategyProbMax(imdp, mdpRewards, bound, robust);
+ } else {
+ return computeMultiStrategyProbMax(imdp, mdpRewards, bound, robust);
+ }
+
+ }
+ }
+
+ /**
+ * Compute permissive strategy that satisfy a specified bound -> Rmin >= bound.
+ * i.e. compute the probability of being in a state in {@code target} in the next step.
+ * @param imdp The IMDP
+ * @param mdpRewards Target states
+ * @param bound limitation bound
+ * @param robust true -> robust or false -> optimistic
+ */
+
+ public ModelCheckerResult computeMultiStrategyValueMin(IMDP imdp, MDPRewards mdpRewards, double bound, boolean robust) throws PrismException
+ {
+ double[] soln = null;
+
+ // Start solution
+ long timer = System.currentTimeMillis();
+ mainLog.println("Starting linear programming (min)...");
+
+ int n = imdp.getNumStates();
+ System.out.println(n);
+ int sInit = imdp.getFirstInitialState();
+
+ double BIG = 10000.0;
+ System.out.println(imdp.getLabelStates("goal"));
+ BitSet targetS = imdp.getLabelStates("goal");
+ System.out.println("Hi: " + imdp.getInitialStates());
+ IntSet targetStates = IntSet.asIntSet(targetS);
+ PrimitiveIterator.OfInt states = targetStates.iterator();
+ int numTarget = 0;
+ while(states.hasNext()){
+ final int s = states.nextInt();
+ numTarget += 1;
+ }
+ int[] target = new int[numTarget];
+ states = targetStates.iterator();
+ int counter = 0;
+ while(states.hasNext()){
+ final int s = states.nextInt();
+ target[counter] = s;
+ counter += 1;
+ }
+ if (robust==true){
+ mainLog.println("Calcualting multi Strategy under the assumption of worst transition per objective: ");
+ try {
+ // Initialise MILP solver
+ GRBEnv env = new GRBEnv("gurobi.log");
+ env.set(GRB.IntParam.OutputFlag, 1);
+ GRBModel m = new GRBModel(env);
+ Map v;
+ Map eta, lam;
+ Map> uplus, umin;
+
+ // Value-function
+ v = new HashMap<>();
+ for (int s = 0; s ();
+ lam = new HashMap<>();
+ uplus = new HashMap<>();
+ umin = new HashMap<>();
+ for (int s = 0; s ());
+ umin.put(sc, new HashMap<>());
+ Iterator>> iter = imdp.getTransitionsIterator(s, c);
+ while(iter.hasNext()){
+ Map.Entry> e = iter.next();
+ int t = e.getKey();
+ Interval transition_val = e.getValue();
+ String key = sc + "->" + t;
+ GRBVar up = m.addVar(0,BIG,0,GRB.CONTINUOUS,"uplus["+key+"]");
+ GRBVar um = m.addVar(0,BIG,0,GRB.CONTINUOUS,"umin["+key+"]");
+ uplus.get(sc).put(t, up);
+ umin.get(sc).put(t, um);
+ GRBLinExpr allowed = new GRBLinExpr();
+ allowed.addTerm(BIG, eta.get(sc));
+ m.addConstr(uplus.get(sc).get(t), GRB.GREATER_EQUAL, 0.0,"uPlusLow-"+sc+"-"+t );
+ m.addConstr(umin.get(sc).get(t), GRB.GREATER_EQUAL, 0.0,"uMinLow-"+sc+"-"+t );
+ m.addConstr(uplus.get(sc).get(t), GRB.LESS_EQUAL, allowed,"uPlusHigh-"+sc+"-"+t);
+ m.addConstr(umin.get(sc).get(t), GRB.LESS_EQUAL, allowed,"uMinHigh-"+sc+"-"+t);
+ GRBLinExpr dualExpr = new GRBLinExpr();
+ dualExpr.addTerm(1.0, lam.get(sc));
+ dualExpr.addTerm(1.0, uplus.get(sc).get(t));
+ dualExpr.addTerm(-1.0, umin.get(sc).get(t));
+ m.addConstr(dualExpr, GRB.GREATER_EQUAL, v.get(t), "dualFeas_"+sc+"_"+t);
+ }
+ }
+ }
+
+ // Action per state Constraint (multi >= 1.0, deter == 1.0)
+ for (int s = 0; s < n; s++) {
+ GRBLinExpr expr = new GRBLinExpr();
+ for (int c = 0; c < imdp.getNumChoices(s); c++)
+ expr.addTerm(1.0, eta.get(s+"-"+c));
+ m.addConstr(expr, GRB.GREATER_EQUAL, 1.0, "actSel-"+s);
+ }
+
+ //Pre-bell
+ Map phi = new HashMap<>();
+
+ for (int s = 0; s < n; s++) {
+ for (int c = 0; c < imdp.getNumChoices(s); c++) {
+ String sc = s + "-" + c;
+ GRBVar etaVar = eta.get(sc), lamVar = lam.get(sc);
+ GRBVar phiVar = m.addVar(-BIG, BIG, 0.0, GRB.CONTINUOUS, "phi-" + sc);
+ phi.put(sc, phiVar);
+ // 1) φ ≤ λMore actions
+ m.addConstr(phiVar, GRB.LESS_EQUAL, lamVar, "philem1-" + sc);
+
+ // 2) φ ≤ BIG * η → build RHS as a LinExpr
+ GRBLinExpr rhs2 = new GRBLinExpr();
+ rhs2.addTerm(BIG, etaVar);
+ m.addConstr(phiVar, GRB.LESS_EQUAL, rhs2, "philem2-" + sc);
+ // 3) φ ≥ λ − BIG*(1−η)
+ GRBLinExpr c3 = new GRBLinExpr();
+ c3.addTerm(1.0, phiVar);
+ c3.addTerm(-1.0, lamVar);
+ c3.addConstant(BIG);
+ c3.addTerm(-BIG, etaVar);
+ m.addConstr(c3, GRB.GREATER_EQUAL, 0.0, "philem3-" + sc);
+ }
+ }
+
+
+
+ m.update();
+
+
+ // Bellman constraint
+ for (int s = 0; s < n; s++) {
+ int numChoices = imdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++) {
+ String sc = s + "-" + c;
+ GRBLinExpr expr = new GRBLinExpr();
+ expr.addConstant(mdpRewards.getTransitionReward(s,c));
+
+ // add phi = λ·η
+ expr.addTerm(1.0, phi.get(sc));
+
+ // add ∑[hi·uplus – lo·umin]
+ GRBLinExpr ins = new GRBLinExpr();
+ Iterator>> it = imdp.getTransitionsIterator(s,c);
+ while (it.hasNext()) {
+ Map.Entry> e = it.next();
+ int t = e.getKey();
+ double lo = e.getValue().getLower(), hi = e.getValue().getUpper();
+ ins.addTerm( hi, uplus.get(sc).get(t) );
+ ins.addTerm(-lo, umin .get(sc).get(t) );
+ }
+ expr.add(ins);
+
+
+ expr.addConstant(-BIG);
+ expr.addTerm( BIG, eta.get(sc) );
+
+
+ // post v[s] ≥ expr
+
+ m.addConstr( v.get(s), GRB.GREATER_EQUAL, expr, "bell-"+sc );
+
+ }
+ }
+
+ // Bound for v[0];
+
+ m.addConstr(v.get(sInit), GRB.LESS_EQUAL, bound, "multi-bound");
+ m.update();
+
+ // Objective
+ GRBLinExpr pen = new GRBLinExpr();
+ for (int s = 0; s < n; s++){
+ int numChoices = imdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++){
+ String sc = s +"-"+c;
+ pen.addConstant(1.0);
+ pen.addTerm(-1.0, eta.get(sc));
+ }
+ }
+ // set the model’s objective to pen, minimize it
+
+ int numVars = m.get(GRB.IntAttr.NumVars);
+ int numConstr = m.get(GRB.IntAttr.NumConstrs);
+ int numIntVars = m.get(GRB.IntAttr.NumIntVars); // counts both BINARY and INTEGER types
+ int numContVars = numVars - numIntVars;
+ mainLog.println("Continuous Variables = " + numContVars + ", Integer Variables = "+ numIntVars + ", Constraints = " + numConstr);
+ System.out.println("Continuous Variables = " + numContVars + ", Integer Variables = "+ numIntVars + ", Constraints = " + numConstr);
+ // now optimize
+ m.setObjective(pen, GRB.MINIMIZE);
+ m.setCallback(new trigger(m, 3600));
+ m.write("gurobi.lp");
+ long timerGurobi = System.currentTimeMillis();
+ m.optimize();
+ long afterGurobi = System.currentTimeMillis();
+ long timeTake = afterGurobi - timerGurobi;
+ mainLog.println("Gurobi Solve time: " + timeTake);
+
+
+ if (m.get(GRB.IntAttr.Status) == GRB.Status.INFEASIBLE) {
+ System.out.println("Model infeasible—computing IIS...");
+ m.computeIIS();
+ for (GRBConstr c : m.getConstrs()) {
+ if (c.get(GRB.IntAttr.IISConstr) == 1) {
+ System.out.println("IIS: " + c.get(GRB.StringAttr.ConstrName));
+ }
+ }
+ // Optionally write the IIS to a file:
+ m.write("model.IIS");
+ }
+ System.out.printf("v[0]: %.4f%n", v.get(sInit).get(GRB.DoubleAttr.X));
+
+ soln = new double[n];
+ for (int s = 0; s < n; s++) {
+ if (s==0){
+ System.out.println(v.get(s).get(GRB.StringAttr.VarName) + " = "+v.get(s).get(GRB.DoubleAttr.X));
+ }
+
+
+ soln[s] = v.get(s).get(GRB.DoubleAttr.X);
+ }
+
+ for (int s = 0; s < n; s++) {
+ mainLog.println("state: " + s + ", value: " + soln[s]);
+ }
+
+ int isMIP = m.get(GRB.IntAttr.IsMIP); // 1 => has integer vars
+ int isQP = m.get(GRB.IntAttr.IsQP); // 1 => quadratic objective
+ int isQCP = m.get(GRB.IntAttr.IsQCP); // 1 => quadratic constraints
+ int numQC = m.get(GRB.IntAttr.NumQConstrs); // # quadratic constraints
+ System.out.printf("IsMIP=%d IsQP=%d IsQCP=%d NumQConstrs=%d%n",isMIP, isQP, isQCP, numQC);
+
+
+ mainLog.println("Multi Strategy to Obtain at most under worst assumption of adversary " + bound);
+
+ // How many solutions are in the pool?
+ int solCount = m.get(GRB.IntAttr.SolCount);
+
+ // Loop over each solution k=0…solCount−1
+
+ for (int s = 0; s < n; s++) {
+ mainLog.print(s + ":");
+ int numChoices = imdp.getNumChoices(s);
+ for (int i = 0; i < numChoices; i++) {
+ String sc = s +"-"+i;
+ if (eta.get(sc).get(GRB.DoubleAttr.X) > 0) {
+
+ mainLog.print(" " + imdp.getAction(s, i));
+ }
+ }
+ mainLog.println();
+ }
+ int permC = 0;
+ for (int s = 0; s < n; s++) {
+ //System.out.println(v.get(s).get(GRB.StringAttr.VarName) + " = "+v.get(s).get(GRB.DoubleAttr.X));
+ int numChoices = imdp.getNumChoices(s);
+
+ if (numChoices == 1){
+ continue;
+ } else {
+ int tmC = 0;
+ for (int i = 0; i < numChoices; i++) {
+ String sc = s +"-"+i;
+ if (eta.get(sc).get(GRB.DoubleAttr.X) > 0) {
+ tmC += 1;
+ }
+ }
+ if (tmC > 1){
+ permC += 1;
+ }
+ }
+ }
+ mainLog.println("Number of Permissive States: " + permC);
+
+ int reachable = 0;
+ for (int s = 0; s < n; s++) {
+ if (soln[s] > 0.0){
+ if (soln[s] <= bound){
+ int numChoices = imdp.getNumChoices(s);
+ if (numChoices == 1){
+ continue;
+ } else {
+ for (int i = 0; i < numChoices; i++) {
+ reachable += 1;
+ }
+ }
+ }
+
+
+ }
+ }
+
+ mainLog.println("Total number of reachable permissable state-action pairs: " + reachable);
+
+
+ reachable = 0;
+ for (int s = 0; s < n; s++) {
+ if (soln[s] >= 0.0){
+ if (soln[s] <= bound){
+ int numChoices = imdp.getNumChoices(s);
+
+ for (int i = 0; i < numChoices; i++) {
+ reachable += 1;
+ }
+ }
+
+
+
+ }
+ }
+
+ mainLog.println("Total number of reachable state-action pairs: " + reachable);
+ // Clean up
+ m.dispose();
+ env.dispose();
+ } catch (GRBException e) {
+ throw new PrismException("Error solving LP: " +e.getMessage());
+ }
+ } else {
+
+ // Multi-strategy under best assumption
+ mainLog.println("Calcualting multi Strategy under the assumption of best transition per objective: ");
+ double tol = 1e-9;
+
+ try {
+ // create environment & model
+ System.out.println("Im here");
+ GRBEnv env = new GRBEnv("gurobi.log");
+ env.set(GRB.IntParam.OutputFlag, 0);
+ env.set(GRB.DoubleParam.TimeLimit, 3600.0); // 60-second limit
+ env.set(GRB.IntParam.Threads, 0); // (optional) use all cores
+ env.set(GRB.IntParam.OutputFlag, 1);
+ env.set(GRB.IntParam.Cuts, 2);
+ GRBModel m = new GRBModel(env);
+
+
+ // --- 1) Value‐function vars v[s] ---
+ Map v = new HashMap<>();
+ for (int s = 0; s eta = new HashMap<>();
+ Map> delta = new HashMap<>();
+
+
+ for (int s = 0; s tList = new ArrayList<>();
+ List loList = new ArrayList<>(), hiList = new ArrayList<>();
+ Iterator>> it = imdp.getTransitionsIterator(s, c);
+ List> li = new ArrayList<>();
+ while (it.hasNext()) {
+ Map.Entry> e = it.next();
+ int t = e.getKey();
+ Interval w = e.getValue();
+ li.add(w);
+ tList.add(t);
+ }
+
+ System.out.println("tList: " + tList.toString());
+ for (int i = 0; i < li.size(); i++) {
+ Interval w = li.get(i);
+ double lo = Math.min(w.getLower(), w.getUpper()); // normalize just in case
+ double hi = Math.max(w.getLower(), w.getUpper());
+ loList.add(lo);
+ hiList.add(hi);
+ }
+
+
+
+
+ // Enumerate all vertices via "n-1 at bounds + 1 free"
+
+
+ List> result = new ArrayList<>();
+ Set seen = new HashSet<>();
+ for (int j = 0; j < tList.size(); j++) {
+ int freeState = tList.get(j);
+ List> verts =
+ findExtremeCombos(tList, loList, hiList, tol, freeState); // <-- new overload
+ for (Map combo : verts) {
+ String key = comboKey(combo, tList);
+ if (seen.add(key)) result.add(combo); // keep only novel vertices
+ }
+ }
+
+ mainLog.println("State: " + s + ", Action: " + c);
+
+ int count = 0;
+ for (Map combo : result) {
+ StringBuilder sb = new StringBuilder();
+ GRBLinExpr expr = new GRBLinExpr();
+ expr.addConstant(mdpRewards.getTransitionReward(s,c));
+ for (int i = 0; i < tList.size(); i++) {
+ int t = tList.get(i);
+ double p = combo.get(t);
+ if (i > 0) sb.append(", ");
+ sb.append("state ").append(t).append(": ")
+ .append(String.format(Locale.US, "%.9f", p));
+ expr.addTerm(p, v.get(t));
+ }
+ // indicator-style big-M for the chosen (s,c)
+ expr.addConstant(-BIG);
+ expr.addTerm(+BIG, eta.get(sc));
+ m.addConstr(v.get(s), GRB.GREATER_EQUAL, expr,
+ "state-"+s+"-choice-"+c+"-combination-"+count);
+
+ mainLog.println(sb.toString());
+ count++;
+ }
+ }
+ }
+
+ // --- 3) Action‐selection: sum η ≥ 1 at each state ---
+ for (int s = 0; s < n; s++) {
+ GRBLinExpr expr = new GRBLinExpr();
+ for (int c = 0; c < imdp.getNumChoices(s); c++)
+ expr.addTerm(1.0, eta.get(s+"-"+c));
+ m.addConstr(expr, GRB.GREATER_EQUAL, 1.0, "actSel-"+s);
+ }
+
+
+ // 3g) Bellman
+ m.addConstr(v.get(sInit), GRB.LESS_EQUAL, bound, "multi-bound");
+ m.update();
+
+
+
+ // 5) objective: minimize sum(1−η) ≡ minimize ( #actions − sum η )
+ GRBLinExpr pen = new GRBLinExpr();
+
+ for (int s = 0; s < n; s++){
+ int numChoices = imdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++){
+ String sc = s +"-"+c;
+ pen.addConstant(1.0);
+ pen.addTerm(-1.0, eta.get(sc));
+ }
+ }
+
+ m.setObjective(pen, GRB.MINIMIZE);
+
+ // set the model’s objective to pen, minimize it
+
+ /* GRBLinExpr pen = new GRBLinExpr();
+ pen.addTerm(1.0, v.get(sInit));
+ m.setObjective(pen, GRB.MINIMIZE); */
+ int numVars = m.get(GRB.IntAttr.NumVars);
+ int numConstr = m.get(GRB.IntAttr.NumConstrs);
+ int numIntVars = m.get(GRB.IntAttr.NumIntVars); // counts both BINARY and INTEGER types
+ int numContVars = numVars - numIntVars;
+ mainLog.println("Continuous Variables = " + numContVars + ", Integer Variables = "+ numIntVars + ", Constraints = " + numConstr);
+ System.out.println("Continuous Variables = " + numContVars + ", Integer Variables = "+ numIntVars + ", Constraints = " + numConstr);
+
+ m.setCallback(new trigger(m, 3600.0));
+ long timerGurobi = System.currentTimeMillis();
+ m.optimize();
+ long afterGurobi = System.currentTimeMillis();
+ long timeTake = afterGurobi - timerGurobi;
+ mainLog.println("Gurobi Solve time: " + timeTake);
+
+ //System.out.printf("v[0]: %.4f%n", v.get(0).get(GRB.DoubleAttr.X));
+ if (m.get(GRB.IntAttr.Status) == GRB.Status.INFEASIBLE) {
+ System.out.println("Model infeasible—computing IIS...");
+ m.computeIIS();
+ for (GRBConstr c : m.getConstrs()) {
+ if (c.get(GRB.IntAttr.IISConstr) == 1) {
+ System.out.println("IIS: " + c.get(GRB.StringAttr.ConstrName));
+ }
+ }
+ // Optionally write the IIS to a file:
+ m.write("model.IIS");
+ }
+ int status = m.get(GRB.IntAttr.Status);
+ System.out.println("Gurobi Status = " + status);
+
+ soln = new double[n];
+ for (int s = 0; s < n; s++) {
+ soln[s] = v.get(s).get(GRB.DoubleAttr.X);
+ mainLog.println("state: " + s + ", value: " + soln[s]);
+ }
+
+ mainLog.println("Multi Strategy to Obtain at least under worst assumption of adversary" + bound);
+
+
+ // How many solutions are in the pool?
+ int solCount = m.get(GRB.IntAttr.SolCount);
+
+ // Loop over each solution k=0…solCount−1
+
+ for (int s = 0; s < n; s++) {
+ mainLog.print(s + ":");
+ int numChoices = imdp.getNumChoices(s);
+ for (int i = 0; i < numChoices; i++) {
+ String sc = s +"-"+i;
+ if (eta.get(sc).get(GRB.DoubleAttr.X) > 0) {
+ mainLog.print(" " + imdp.getAction(s, i));
+ }
+ }
+ mainLog.println();
+ }
+ int permC = 0;
+ for (int s = 0; s < n; s++) {
+ //System.out.println(v.get(s).get(GRB.StringAttr.VarName) + " = "+v.get(s).get(GRB.DoubleAttr.X));
+ int numChoices = imdp.getNumChoices(s);
+
+ if (numChoices == 1){
+ continue;
+ } else {
+ int tmC = 0;
+ for (int i = 0; i < numChoices; i++) {
+ String sc = s +"-"+i;
+ if (eta.get(sc).get(GRB.DoubleAttr.X) > 0) {
+ tmC += 1;
+ }
+ }
+ if (tmC > 1){
+ permC += 1;
+ }
+ }
+ }
+ mainLog.println("Number of Permissive States: " + permC);
+ mainLog.println("Value at inital state " + v.get(sInit).get(GRB.DoubleAttr.X));
+
+ mainLog.println("Number of Permissive States: " + permC);
+
+ int reachable = 0;
+ for (int s = 0; s < n; s++) {
+ if (soln[s] > 0.0){
+ if (soln[s] < BIG){
+ int numChoices = imdp.getNumChoices(s);
+ if (numChoices == 1){
+ continue;
+ } else {
+ for (int i = 0; i < numChoices; i++) {
+ reachable += 1;
+ }
+ }
+ }
+
+
+ }
+ }
+
+ mainLog.println("Total number of reachable permissable state-action pairs: " + reachable);
+
+
+ reachable = 0;
+ for (int s = 0; s < n; s++) {
+ if (soln[s] > 0.0){
+ if (soln[s] <= BIG){
+ int numChoices = imdp.getNumChoices(s);
+
+ for (int i = 0; i < numChoices; i++) {
+ reachable += 1;
+ }
+ }
+
+
+
+ }
+ }
+
+ mainLog.println("Total number of reachable state-action pairs: " + reachable);
+
+ m.dispose();
+ env.dispose();
+ } catch (GRBException e) {
+ throw new PrismException("Error solving LP: " +e.getMessage());
+ }
+
+ }
+ long time = (System.currentTimeMillis() - timer);
+ mainLog.println("It took "+time + " milli-seconds to finish synthesize the permissive strategy");
+
+ // Return results
+ ModelCheckerResult res = new ModelCheckerResult();
+// res.accuracy = AccuracyFactory.boundedNumericalIterations();
+ res.soln = soln;
+// res.timeTaken = timer / 1000.0;
+ return res;
+ }
+
+
+ /**
+ * Compute permissive strategy that satisfy a specified bound -> Rmax <= bound.
+ * i.e. compute the probability of being in a state in {@code target} in the next step.
+ * @param imdp The IMDP
+ * @param mdpRewards Target states
+ * @param bound limitation bound
+ * @param robust true -> robust or false -> optimistic
+ */
+ public ModelCheckerResult computeMultiStrategyValueMax(IMDP imdp, MDPRewards mdpRewards, double bound, boolean robust) throws PrismException
+ {
+ double[] soln = null;
+
+ // Start solution
+ long timer = System.currentTimeMillis();
+ mainLog.println("Starting linear programming (min)...");
+
+ int n = imdp.getNumStates();
+ System.out.println(n);
+ int sInit = imdp.getFirstInitialState();
+ //double BIG = 1000.00;
+ double BIG =100.000;
+ System.out.println(imdp.getLabelStates("goal"));
+ BitSet targetS = imdp.getLabelStates("goal");
+ System.out.println(imdp.getInitialStates());
+ IntSet targetStates = IntSet.asIntSet(targetS);
+ PrimitiveIterator.OfInt states = targetStates.iterator();
+ int numTarget = 0;
+ while(states.hasNext()){
+ final int s = states.nextInt();
+ numTarget += 1;
+ }
+ int[] target = new int[numTarget];
+ states = targetStates.iterator();
+ int counter = 0;
+ while(states.hasNext()){
+ final int s = states.nextInt();
+ target[counter] = s;
+ counter += 1;
+ }
+ System.out.println(target[0]);
+
+
+
+ if (robust==true){
+ mainLog.println("Calcualting multi Strategy under the assumption of worst transition per objective: ");
+ try {
+ // Initialise MILP solver
+ GRBEnv env = new GRBEnv("gurobi.log");
+ //env.set(GRB.DoubleParam.TimeLimit, 3600.0); // 60-second limit
+ //env.set(GRB.IntParam.Threads, 0); // (optional) use all cores
+ //env.set(GRB.IntParam.OutputFlag, 1);
+ /* env.set(GRB.IntParam.Cuts, 2);
+
+ env.set(GRB.DoubleParam.MIPGap,1e-2); */
+ //env.set(GRB.IntParam.MIPFocus, 2);
+ env.set(GRB.IntParam.Cuts, 2);
+ env.set(GRB.DoubleParam.MIPGap,1e-1);
+ GRBModel m = new GRBModel(env);
+ Map v;
+ Map eta, lam;
+ Map> uplus, umin;
+
+ // Value-function
+ v = new HashMap<>();
+ for (int s = 0; s ();
+ lam = new HashMap<>();
+ uplus = new HashMap<>();
+ umin = new HashMap<>();
+ for (int s = 0; s ());
+ umin.put(sc, new HashMap<>());
+ Iterator>> iter = imdp.getTransitionsIterator(s, c);
+ while(iter.hasNext()){
+ Map.Entry> e = iter.next();
+ int t = e.getKey();
+ Interval transition_val = e.getValue();
+ String key = sc + "->" + t;
+ GRBVar up = m.addVar(0,BIG,0,GRB.CONTINUOUS,"uplus["+key+"]");
+ GRBVar um = m.addVar(0,BIG,0,GRB.CONTINUOUS,"umin["+key+"]");
+ uplus.get(sc).put(t, up);
+ umin.get(sc).put(t, um);
+ /* GRBLinExpr allowed = new GRBLinExpr();
+ allowed.addTerm(BIG, eta.get(sc));*/
+ m.addConstr(uplus.get(sc).get(t), GRB.GREATER_EQUAL, 0.0,"uPlusLow-"+sc+"-"+t );
+ m.addConstr(umin.get(sc).get(t), GRB.GREATER_EQUAL, 0.0,"uMinLow-"+sc+"-"+t );
+ // if ηₛₐ == 1 then uplusₛₐₜ == 0
+ GRBLinExpr allowed = new GRBLinExpr();
+ allowed.addConstant(BIG);
+ allowed.addTerm(-BIG, eta.get(sc));
+ m.addConstr(uplus.get(sc).get(t), GRB.LESS_EQUAL, allowed,"uPlusHigh-"+sc+"-"+t);
+ m.addConstr(umin.get(sc).get(t), GRB.LESS_EQUAL, allowed,"uMinHigh-"+sc+"-"+t);
+ GRBLinExpr dualExpr = new GRBLinExpr();
+ dualExpr.addTerm(1.0, lam.get(sc));
+ dualExpr.addTerm(-1.0, uplus.get(sc).get(t));
+ dualExpr.addTerm(+1.0, umin.get(sc).get(t));
+ m.addConstr(dualExpr, GRB.LESS_EQUAL, v.get(t), "dualFeas_"+sc+"_"+t);
+ }
+ }
+ }
+
+ // Action per state Constraint (multi >= 1.0, deter == 1.0)
+ for (int s = 0; s < n; s++) {
+ GRBLinExpr expr = new GRBLinExpr();
+ for (int c = 0; c < imdp.getNumChoices(s); c++)
+ expr.addTerm(1.0, eta.get(s+"-"+c));
+ m.addConstr(expr, GRB.GREATER_EQUAL, 1.0, "actSel-"+s);
+ }
+
+
+ //Pre-bell
+ Map phi = new HashMap<>();
+ for (int s = 0; s < n; s++) {
+ for (int c = 0; c < imdp.getNumChoices(s); c++) {
+ String sc = s + "-" + c;
+ GRBVar etaVar = eta.get(sc), lamVar = lam.get(sc);
+ GRBVar phiVar = m.addVar(-BIG, BIG, 0.0, GRB.CONTINUOUS, "phi-" + sc);
+ phi.put(sc, phiVar);
+
+ // 3) φ <= λ + BIG*(1−η)
+ GRBLinExpr c3 = new GRBLinExpr();
+ c3.addTerm(1.0, phiVar);
+ c3.addTerm(-1.0, lamVar);
+ c3.addConstant(-BIG);
+ c3.addTerm(+BIG, etaVar);
+ m.addConstr(c3, GRB.LESS_EQUAL, 0.0, "philem3-" + sc);
+ }
+ }
+
+
+ m.update();
+
+
+ // Bellman constraint
+ for (int s = 0; s < n; s++) {
+ int numChoices = imdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++) {
+ String sc = s + "-" + c;
+ GRBLinExpr expr = new GRBLinExpr();
+ expr.addConstant(mdpRewards.getTransitionReward(s,c));
+
+ // add phi = λ·η
+ expr.addTerm(1.0, phi.get(sc));
+
+ // add ∑[hi·uplus – lo·umin]
+ GRBLinExpr ins = new GRBLinExpr();
+ Iterator>> it = imdp.getTransitionsIterator(s,c);
+ while (it.hasNext()) {
+ Map.Entry> e = it.next();
+ int t = e.getKey();
+ double lo = e.getValue().getLower(), hi = e.getValue().getUpper();
+ ins.addTerm(-hi, uplus.get(sc).get(t) );
+ ins.addTerm(+lo, umin .get(sc).get(t) );
+ }
+ expr.add(ins);
+ expr.addConstant(+BIG);
+ expr.addTerm(-BIG, eta.get(sc) );
+
+
+ // post v[s] ≥ expr
+ m.addConstr( v.get(s), GRB.LESS_EQUAL, expr, "bell-"+sc );
+
+
+ }
+ }
+
+ // Bound for v[0];
+
+ m.addConstr(v.get(sInit), GRB.GREATER_EQUAL, bound, "multi-bound");
+
+ m.update();
+ double eps = 0.01;
+ GRBLinExpr tieB = new GRBLinExpr();
+ for (int s = 0; s 0) {
+ mainLog.print(" " + imdp.getAction(s, i));
+ }
+ }
+ mainLog.println();
+ }
+
+ // Clean up
+ m.dispose();
+ env.dispose();
+ } catch (GRBException e) {
+ throw new PrismException("Error solving LP: " +e.getMessage());
+ }
+ } else {
+
+ System.out.println("Hi");
+ // Multi-strategy under best assumption
+ mainLog.println("Calcualting multi Strategy under the assumption of best transition per objective: ");
+
+ try {
+ // create environment & model
+ GRBEnv env = new GRBEnv("gurobi.log");
+ //env.set(GRB.DoubleParam.TimeLimit, 3600.0); // 60-second limit
+ env.set(GRB.IntParam.Threads, 0); // (optional) use all cores
+ env.set(GRB.IntParam.OutputFlag, 1);
+ /* env.set(GRB.IntParam.Cuts, 2);
+ env.set(GRB.DoubleParam.MIPGap,1e-2); */
+ GRBModel m = new GRBModel(env);
+
+ // --- 1) Value‐function vars v[s] ---
+ Map v = new HashMap<>();
+ for (int s = 0; s < n; s++) {
+ v.put(s, m.addVar(0.0,BIG, 0.0, GRB.CONTINUOUS, "mu["+s+"]"));
+ }
+ for (int i = 0; i < numTarget; i++) {
+ m.addConstr(v.get(target[i]), GRB.EQUAL, 0.0, "v-target-"+target[i]);
+ }
+ m.update();
+
+ // --- 2) Binary η and dual vars lam (α), uplus (β), umin (γ) ---
+ Map eta = new HashMap<>();
+ Map> delta = new HashMap<>();
+
+ for (int s = 0; s < n; s++) {
+ int numC = imdp.getNumChoices(s);
+ for (int c = 0; c < numC; c++) {
+ String sc = s + "-" + c;
+ eta.put(sc, m.addVar(0.0, 1.0, 0.0, GRB.BINARY, "eta-"+sc));
+ delta.put(sc, new HashMap<>());
+ Iterator>> it = imdp.getTransitionsIterator(s,c);
+ while (it.hasNext()) {
+ Map.Entry> e = it.next();
+ int t = e.getKey();
+ Interval transition_val = e.getValue();
+ String key = sc+"->"+t;
+ GRBVar up = m.addVar(0.0, 1.0, 0.0,GRB.CONTINUOUS, "delta-"+key);
+ delta.get(sc).put(t, up);
+ GRBLinExpr allowedUp = new GRBLinExpr();
+ GRBLinExpr allowedLow = new GRBLinExpr();
+ allowedUp.addTerm(transition_val.getUpper(), eta.get(sc));
+ allowedLow.addTerm(transition_val.getLower(), eta.get(sc));
+ m.addConstr(delta.get(sc).get(t), GRB.LESS_EQUAL, allowedUp, "upperBound");
+ m.addConstr(delta.get(sc).get(t), GRB.GREATER_EQUAL, allowedLow, "LowerBound");
+ }
+ GRBLinExpr norm = new GRBLinExpr();
+ for (int t : delta.get(sc).keySet())
+ norm.addTerm(1.0, delta.get(sc).get(t));
+ m.addConstr(norm, GRB.EQUAL, eta.get(sc), "norm-"+sc);
+ }
+ }
+
+ // --- 3) Action‐selection: sum η ≥ 1 at each state ---
+ for (int s = 0; s < n; s++) {
+ GRBLinExpr expr = new GRBLinExpr();
+ for (int c = 0; c < imdp.getNumChoices(s); c++)
+ expr.addTerm(1.0, eta.get(s+"-"+c));
+ m.addConstr(expr, GRB.GREATER_EQUAL, 1.0, "actSel-"+s);
+ }
+
+
+ // 3g) Bellman
+ for (int s = 0; s < n; s++) {
+ int numChoices = imdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++) {
+ String sc = s + "-" + c;
+ GRBQuadExpr rhs = new GRBQuadExpr();
+ rhs.addConstant(mdpRewards.getTransitionReward(s,c));
+
+ Iterator>> it = imdp.getTransitionsIterator(s,c);
+ GRBQuadExpr qexpr = new GRBQuadExpr();
+ while (it.hasNext()) {
+ Map.Entry> e = it.next();
+ int t = e.getKey();
+ qexpr.addTerm(1.0,delta.get(sc).get(t),v.get(t));
+ }
+
+ rhs.add(qexpr);
+
+ // add big‑M disable term
+ rhs.addConstant(+BIG);
+ rhs.addTerm(-BIG, eta.get(sc) );
+
+
+ // post v[s] ≥ expr
+
+ m.addQConstr(v.get(s), GRB.LESS_EQUAL, rhs, "bell-"+sc );
+
+
+ }
+ }
+
+ m.addConstr(v.get(sInit), GRB.GREATER_EQUAL, bound, "prefBound");
+
+
+ m.update();
+
+ // 5) objective: minimize sum(1−η) ≡ minimize ( #actions − sum η )
+ GRBLinExpr pen = new GRBLinExpr();
+
+ for (int s = 0; s < n; s++){
+ int numChoices = imdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++){
+ String sc = s +"-"+c;
+ pen.addConstant(1.0);
+ pen.addTerm(-1.0, eta.get(sc));
+ }
+ }
+
+ // set the model’s objective to pen, minimize it
+
+ m.setObjective(pen, GRB.MINIMIZE);
+ /* GRBLinExpr pen = new GRBLinExpr();
+ pen.addTerm(1.0, v.get(sInit));
+ m.setObjective(pen, GRB.MAXIMIZE); */
+ int numVars = m.get(GRB.IntAttr.NumVars);
+ int numConstr = m.get(GRB.IntAttr.NumConstrs);
+ int numIntVars = m.get(GRB.IntAttr.NumIntVars); // counts both BINARY and INTEGER types
+ int numContVars = numVars - numIntVars;
+ mainLog.println("Continuous Variables = " + numContVars + ", Integer Variables = "+ numIntVars + ", Constraints = " + numConstr);
+ m.setCallback(new trigger(m, 300.0));
+
+ m.optimize();
+ //System.out.printf("v[0]: %.4f%n", v.get(0).get(GRB.DoubleAttr.X));
+ if (m.get(GRB.IntAttr.Status) == GRB.Status.INFEASIBLE) {
+ System.out.println("Model infeasible—computing IIS...");
+ m.computeIIS();
+ for (GRBConstr c : m.getConstrs()) {
+ if (c.get(GRB.IntAttr.IISConstr) == 1) {
+ System.out.println("IIS: " + c.get(GRB.StringAttr.ConstrName));
+ }
+ }
+ // Optionally write the IIS to a file:
+ m.write("model.IIS");
+ }
+ int status = m.get(GRB.IntAttr.Status);
+ System.out.println("Gurobi Status = " + status);
+
+ soln = new double[n];
+ for (int s = 0; s < n; s++) {
+ System.out.println(v.get(s).get(GRB.StringAttr.VarName) + " = "+v.get(s).get(GRB.DoubleAttr.X));
+ soln[s] = v.get(s).get(GRB.DoubleAttr.X);
+ }
+
+ mainLog.println("Multi Strategy to Obtain at least under worst assumption of adversary" + bound);
+
+
+ // How many solutions are in the pool?
+ int solCount = m.get(GRB.IntAttr.SolCount);
+
+ // Loop over each solution k=0…solCount−1
+
+ for (int s = 0; s < n; s++) {
+ mainLog.print(s + ":");
+ int numChoices = imdp.getNumChoices(s);
+ for (int i = 0; i < numChoices; i++) {
+ String sc = s +"-"+i;
+ if (eta.get(sc).get(GRB.DoubleAttr.X) > 0) {
+ mainLog.print(" " + imdp.getAction(s, i));
+ }
+ }
+ mainLog.println();
+ }
+ m.dispose();
+ env.dispose();
+ } catch (GRBException e) {
+ throw new PrismException("Error solving LP: " +e.getMessage());
+ }
+ }
+ long time = (System.currentTimeMillis() - timer);
+ mainLog.println("It took "+time + " milli-seconds to finish synthesize the permissive strategy");
+
+ // Return results
+ ModelCheckerResult res = new ModelCheckerResult();
+// res.accuracy = AccuracyFactory.boundedNumericalIterations();
+ res.soln = soln;
+// res.timeTaken = timer / 1000.0;
+ return res;
+ }
+
+ public ModelCheckerResult computeMultiStrategyProbMax(IMDP imdp, MDPRewards mdpRewards, double bound, boolean robust) throws PrismException
+ {
+ double[] soln = null;
+
+ // Start solution
+ long timer = System.currentTimeMillis();
+ mainLog.println("Starting linear programming (min)...");
+
+
+ int n = imdp.getNumStates();
+ System.out.println(n);
+ int sInit = imdp.getFirstInitialState();
+
+ double BIG = 1.01;
+ BitSet no = imdp.getLabelStates("Crash");
+ BitSet targetS = imdp.getLabelStates("goal");
+ imdp.checkForDeadlocks();
+ no.andNot(targetS);
+ //targetS.andNot(no);
+ BitSet everything = new BitSet();
+ everything.set(0, n);
+ //everything.andNot(no);
+ IntSet targetStates = IntSet.asIntSet(targetS);
+ IntSet eS = IntSet.asIntSet(everything);
+ PrimitiveIterator.OfInt Tstates = targetStates.iterator();
+ int numTarget = 0;
+ while(Tstates.hasNext()){
+ final int s = Tstates.nextInt();
+ numTarget += 1;
+ }
+ int[] target = new int[numTarget];
+ Tstates = targetStates.iterator();
+ int counter = 0;
+ while(Tstates.hasNext()){
+ final int s = Tstates.nextInt();
+ target[counter] = s;
+ counter += 1;
+ }
+ PrimitiveIterator.OfInt states = eS.iterator();
+ IntSet nStates = IntSet.asIntSet(no);
+ PrimitiveIterator.OfInt ns = nStates.iterator();
+ System.out.println("sInit = " + sInit);
+ System.out.println("Crash states = " + no);
+ System.out.println("Goal states = " + targetS);
+
+
+ if (robust==true){
+ mainLog.println("Calcualting multi Strategy under the assumption of worst transition per objective: ");
+ try {
+ // Initialise MILP solver
+ GRBEnv env = new GRBEnv("gurobi.log");
+ //env.set(GRB.DoubleParam.TimeLimit, 10800.0); // 60-second limit
+ env.set(GRB.IntParam.Threads, 0); // (optional) use all cores
+ env.set(GRB.IntParam.OutputFlag, 1);
+ /*
+ env.set(GRB.IntParam.MIRCuts, 2);
+ env.set(GRB.IntParam.CoverCuts, 2);
+ env.set(GRB.IntParam.FlowCoverCuts,2);
+ env.set(GRB.IntParam.GUBCoverCuts, 2);
+ env.set(GRB.IntParam.ImpliedCuts, 2); */
+
+ GRBModel m = new GRBModel(env);
+ Map v;
+ Map eta, lam;
+ Map> uplus, umin;
+
+ // Value-function
+ v = new HashMap<>();
+ for (int s = 0; s ();
+ lam = new HashMap<>();
+ uplus = new HashMap<>();
+ umin = new HashMap<>();
+ states = eS.iterator();
+ while(states.hasNext()){
+ final int s = states.nextInt();
+ int numChoices = imdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++){
+ String sc = s + "-" + c;
+ eta.put(sc, m.addVar(0.0,1.0,0.0,GRB.BINARY,"eta"+"-"+sc));
+ lam.put(sc, m.addVar(-1.0,1.0,0,GRB.CONTINUOUS,"lam"+"-"+sc));
+ GRBLinExpr lamAU = new GRBLinExpr();
+ lamAU.addTerm(BIG, eta.get(sc));
+ GRBLinExpr lamAD = new GRBLinExpr();
+ lamAD.addTerm(-BIG, eta.get(sc));
+ m.addConstr(lam.get(sc), GRB.LESS_EQUAL, lamAU, "lamU["+sc+"]");
+ m.addConstr(lam.get(sc), GRB.GREATER_EQUAL, lamAD, "lamD["+sc+"]");
+ uplus.put(sc, new HashMap<>());
+ umin.put(sc, new HashMap<>());
+ Iterator>> iter = imdp.getTransitionsIterator(s, c);
+ while(iter.hasNext()){
+ Map.Entry> e = iter.next();
+ int t = e.getKey();
+ Interval transition_val = e.getValue();
+ String key = sc + "->" + t;
+ GRBVar up = m.addVar(0,1.01,0,GRB.CONTINUOUS,"uplus["+key+"]");
+ GRBVar um = m.addVar(0,1.01,0,GRB.CONTINUOUS,"umin["+key+"]");
+ uplus.get(sc).put(t, up);
+ umin.get(sc).put(t, um);
+ GRBLinExpr allowed = new GRBLinExpr();
+ //allowed.addConstant(BIG);
+ allowed.addTerm(BIG, eta.get(sc));
+ m.addConstr(uplus.get(sc).get(t), GRB.GREATER_EQUAL, 0.0,"uPlusLow-"+sc+"-"+t );
+ m.addConstr(umin.get(sc).get(t), GRB.GREATER_EQUAL, 0.0,"uMinLow-"+sc+"-"+t );
+ m.addConstr(uplus.get(sc).get(t), GRB.LESS_EQUAL, allowed,"uPlusHigh-"+sc+"-"+t);
+ m.addConstr(umin.get(sc).get(t), GRB.LESS_EQUAL, allowed,"uMinHigh-"+sc+"-"+t);
+ GRBLinExpr dualExpr = new GRBLinExpr();
+ dualExpr.addTerm(1.0, lam.get(sc));
+ dualExpr.addTerm(-1.0, uplus.get(sc).get(t));
+ dualExpr.addTerm(+1.0, umin.get(sc).get(t));
+ m.addConstr(dualExpr, GRB.LESS_EQUAL, v.get(t), "dualFeas_"+sc+"_"+t);
+ }
+ }
+ }
+ states = eS.iterator();
+ while(states.hasNext()) {
+ final int s = states.nextInt();
+ GRBLinExpr expr = new GRBLinExpr();
+ for (int c = 0; c < imdp.getNumChoices(s); c++)
+ expr.addTerm(1.0, eta.get(s+"-"+c));
+ m.addConstr(expr, GRB.GREATER_EQUAL, 1.0, "actSel-"+s);
+ }
+
+
+ double LAM_MIN = -1.0;
+ double LAM_MAX = 1.0;
+ //Pre-bell
+ Map phi = new HashMap<>();
+ states = eS.iterator();
+ while(states.hasNext()) {
+ final int s = states.nextInt();
+ for (int c = 0; c < imdp.getNumChoices(s); c++) {
+ String sc = s + "-" + c;
+ GRBVar etaVar = eta.get(sc), lamVar = lam.get(sc);
+
+ // φ in the same bounds as λ
+ GRBVar phiVar = m.addVar(LAM_MIN, LAM_MAX, 0.0, GRB.CONTINUOUS, "phi-"+sc);
+ phi.put(sc, phiVar);
+
+ // McCormick: exact for binary η and bounded λ
+ // 1) φ ≥ L * η
+ GRBLinExpr mc1 = new GRBLinExpr();
+ mc1.addTerm(LAM_MIN, etaVar);
+ m.addConstr(phiVar, GRB.GREATER_EQUAL, mc1, "mc1-"+sc);
+
+ // 2) φ ≤ U * η
+ GRBLinExpr mc2 = new GRBLinExpr();
+ mc2.addTerm(LAM_MAX, etaVar);
+ m.addConstr(phiVar, GRB.LESS_EQUAL, mc2, "mc2-"+sc);
+
+ // 3) φ ≥ λ − U*(1−η)
+ GRBLinExpr mc3 = new GRBLinExpr();
+ mc3.addTerm(1.0, lamVar);
+ mc3.addConstant(-LAM_MAX);
+ mc3.addTerm(LAM_MAX, etaVar);
+ m.addConstr(phiVar, GRB.GREATER_EQUAL, mc3, "mc3-"+sc);
+
+ // 4) φ ≤ λ − L*(1−η)
+ GRBLinExpr mc4 = new GRBLinExpr();
+ mc4.addTerm(1.0, lamVar);
+ mc4.addConstant(-LAM_MIN);
+ mc4.addTerm(LAM_MIN, etaVar);
+ m.addConstr(phiVar, GRB.LESS_EQUAL, mc4, "mc4-"+sc);
+ }
+ }
+
+
+ m.update();
+
+
+ // Bellman constraint
+ states = eS.iterator();
+ while(states.hasNext()) {
+ final int s = states.nextInt();
+ int numChoices = imdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++) {
+ String sc = s + "-" + c;
+ GRBLinExpr expr = new GRBLinExpr();
+ //expr.addConstant(mdpRewards.getTransitionReward(s,c));
+
+ // add phi = λ·η
+ expr.addTerm(1.0, phi.get(sc));
+
+ // add ∑[hi·uplus – lo·umin]
+ GRBLinExpr ins = new GRBLinExpr();
+ Iterator>> it = imdp.getTransitionsIterator(s,c);
+ while (it.hasNext()) {
+ Map.Entry> e = it.next();
+ int t = e.getKey();
+ double lo = e.getValue().getLower(), hi = e.getValue().getUpper();
+ ins.addTerm(-hi, uplus.get(sc).get(t) );
+ ins.addTerm(+lo, umin .get(sc).get(t) );
+ }
+ expr.add(ins);
+
+ expr.addConstant(+BIG);
+ expr.addTerm(-BIG, eta.get(sc) );
+
+
+ // post v[s] ≥ expr
+ m.addConstr( v.get(s), GRB.LESS_EQUAL, expr, "bell-"+sc );
+
+
+ }
+ }
+
+ // Bound for v[0];
+
+ m.addConstr(v.get(sInit), GRB.GREATER_EQUAL, bound, "multi-bound");
+
+ m.update();
+
+ // Objective
+ GRBLinExpr pen = new GRBLinExpr();
+ for (int s = 0; s < n; s++){
+ int numChoices = imdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++){
+ String sc = s +"-"+c;
+ pen.addConstant(1.0);
+ pen.addTerm(-1.0, eta.get(sc));
+ }
+ }
+ m.setObjective(pen, GRB.MINIMIZE);
+ // set the model’s objective to pen, minimize it
+ /* GRBLinExpr pen = new GRBLinExpr();
+ pen.addTerm(1.0, v.get(sInit));
+ m.setObjective(pen, GRB.MAXIMIZE); */
+ m.setCallback(new trigger(m, 3600.0));
+ // now optimize
+ int numVars = m.get(GRB.IntAttr.NumVars);
+ int numConstr = m.get(GRB.IntAttr.NumConstrs);
+ int numIntVars = m.get(GRB.IntAttr.NumIntVars); // counts both BINARY and INTEGER types
+ int numContVars = numVars - numIntVars;
+ mainLog.println("Continuous Variables = " + numContVars + ", Integer Variables = "+ numIntVars + ", Constraints = " + numConstr);
+ System.out.println("Continuous Variables = " + numContVars + ", Integer Variables = "+ numIntVars + ", Constraints = " + numConstr);
+ m.write("gurobi.lp");
+
+ long timerGurobi = System.currentTimeMillis();
+ m.optimize();
+ long afterGurobi = System.currentTimeMillis();
+ long timeTake = afterGurobi - timerGurobi;
+ mainLog.println("Gurobi solve time: " + timeTake);
+ //System.out.printf("v[0]: %.4f%n", v.get(0).get(GRB.DoubleAttr.X));
+ if (m.get(GRB.IntAttr.Status) == GRB.Status.INFEASIBLE) {
+ System.out.println("Model infeasible—computing IIS...");
+ m.computeIIS();
+ for (GRBConstr c : m.getConstrs()) {
+ if (c.get(GRB.IntAttr.IISConstr) == 1) {
+ System.out.println("IIS: " + c.get(GRB.StringAttr.ConstrName));
+ }
+ }
+ // Optionally write the IIS to a file:
+ m.write("model.IIS");
+ }
+ System.out.printf("v[0]: %.4f%n", v.get(sInit).get(GRB.DoubleAttr.X));
+
+ soln = new double[n];
+ for (int s = 0; s < n; s++) {
+ soln[s] = v.get(s).get(GRB.DoubleAttr.X);
+ mainLog.println("state: " + s + ", value: " + soln[s]);
+ }
+
+
+ mainLog.println("Multi Strategy to Obtain at least under worst assumption of adversary" + bound);
+
+
+ // How many solutions are in the pool?
+ int solCount = m.get(GRB.IntAttr.SolCount);
+
+ // Loop over each solution k=0…solCount−1
+
+ for (int s = 0; s < n; s++) {
+ mainLog.print(s + ":");
+ int numChoices = imdp.getNumChoices(s);
+ for (int i = 0; i < numChoices; i++) {
+ String sc = s +"-"+i;
+ if (eta.get(sc).get(GRB.DoubleAttr.X) > 0) {
+ mainLog.print(" " + imdp.getAction(s, i));
+ }
+ }
+ mainLog.println();
+ }
+ int permC = 0;
+ for (int s = 0; s < n; s++) {
+ //System.out.println(v.get(s).get(GRB.StringAttr.VarName) + " = "+v.get(s).get(GRB.DoubleAttr.X));
+ int numChoices = imdp.getNumChoices(s);
+
+ if (numChoices == 1){
+ continue;
+ } else {
+ int tmC = 0;
+ for (int i = 0; i < numChoices; i++) {
+ String sc = s +"-"+i;
+ if (eta.get(sc).get(GRB.DoubleAttr.X) > 0) {
+ tmC += 1;
+ }
+ }
+ if (tmC > 1){
+ permC += 1;
+ }
+ }
+ }
+ mainLog.println("Number of Permissive States: " + permC);
+ // Clean up
+ int reachable = 0;
+ for (int s = 0; s < n; s++) {
+ if (soln[s] > 0.0){
+ if (soln[s] < 1.0){
+ int numChoices = imdp.getNumChoices(s);
+ if (numChoices == 1){
+ continue;
+ } else {
+ for (int i = 0; i < numChoices; i++) {
+ reachable += 1;
+ }
+ }
+ }
+
+
+ }
+ }
+
+ mainLog.println("Total number of reachable permissable state-action pairs: " + reachable);
+
+
+ reachable = 0;
+ for (int s = 0; s < n; s++) {
+ if (soln[s] > 0.0){
+ if (soln[s] <= 1.0){
+ int numChoices = imdp.getNumChoices(s);
+
+ for (int i = 0; i < numChoices; i++) {
+ reachable += 1;
+ }
+ }
+ }
+ }
+
+ mainLog.println("Total number of reachable state-action pairs: " + reachable);
+ m.dispose();
+ env.dispose();
+ } catch (GRBException e) {
+ throw new PrismException("Error solving LP: " +e.getMessage());
+ }
+ } else {
+
+ // Multi-strategy under best assumption
+ mainLog.println("Calcualting multi Strategy under the assumption of best transition per objective: ");
+ double tol = 1e-9;
+
+ try {
+ // create environment & model
+ System.out.println("Im here");
+ GRBEnv env = new GRBEnv("gurobi.log");
+ env.set(GRB.IntParam.OutputFlag, 0);
+ env.set(GRB.DoubleParam.TimeLimit, 3600.0); // 60-second limit
+ env.set(GRB.IntParam.Threads, 0); // (optional) use all cores
+ env.set(GRB.IntParam.OutputFlag, 1);
+ env.set(GRB.IntParam.Cuts, 2);
+ GRBModel m = new GRBModel(env);
+
+
+ // --- 1) Value‐function vars v[s] ---
+ Map v = new HashMap<>();
+ for (int s = 0; s < n; s++) {
+ v.put(s, m.addVar(0.0,1.0, 0.0, GRB.CONTINUOUS, "mu["+s+"]"));
+ }
+ /* for (int i = 0; i < numTarget; i++) {
+ m.addConstr(v.get(target[i]), GRB.EQUAL, 1.0, "v-target-"+target[i]);
+ } */
+ Tstates = targetStates.iterator();
+ while(Tstates.hasNext()){
+ final int s = Tstates.nextInt();
+ m.addConstr(v.get(s),GRB.EQUAL,1.0,"v-target");
+ }
+
+ while(ns.hasNext()){
+ final int s = ns.nextInt();
+ v.put(s, m.addVar(0.0, 1.0, 0, GRB.CONTINUOUS, "mu["+s+"]"));
+ m.addConstr(v.get(s),GRB.EQUAL,0.0,"v-no");
+ }
+ m.update();
+
+ // --- 2) Binary η and dual vars lam (α), uplus (β), umin (γ) ---
+ Map eta = new HashMap<>();
+ Map> delta = new HashMap<>();
+
+ states = eS.iterator();
+
+ while(states.hasNext()){
+ final int s = states.nextInt();
+ int numC = imdp.getNumChoices(s);
+ for (int c = 0; c < numC; c++) {
+ String sc = s + "-" + c;
+ eta.put(sc, m.addVar(0.0,1.0,0.0,GRB.BINARY,"eta"+"-"+sc));
+ // collect successors + bounds, and create delta vars
+ List tList = new ArrayList<>();
+ List loList = new ArrayList<>(), hiList = new ArrayList<>();
+ Iterator>> it = imdp.getTransitionsIterator(s, c);
+ List> li = new ArrayList<>();
+ while (it.hasNext()) {
+ Map.Entry> e = it.next();
+ int t = e.getKey();
+ Interval w = e.getValue();
+ li.add(w);
+ tList.add(t);
+ }
+
+ System.out.println("tList: " + tList.toString());
+ for (int i = 0; i < li.size(); i++) {
+ Interval w = li.get(i);
+ double lo = Math.min(w.getLower(), w.getUpper()); // normalize just in case
+ double hi = Math.max(w.getLower(), w.getUpper());
+ loList.add(lo);
+ hiList.add(hi);
+ }
+
+
+
+
+ // Enumerate all vertices via "n-1 at bounds + 1 free"
+
+
+ List> result = new ArrayList<>();
+ Set seen = new HashSet<>();
+ for (int j = 0; j < tList.size(); j++) {
+ int freeState = tList.get(j);
+ List> verts =
+ findExtremeCombos(tList, loList, hiList, tol, freeState); // <-- new overload
+ for (Map combo : verts) {
+ String key = comboKey(combo, tList);
+ if (seen.add(key)) result.add(combo); // keep only novel vertices
+ }
+ }
+
+ int count = 0;
+ for (Map combo : result) {
+ StringBuilder sb = new StringBuilder();
+ GRBLinExpr expr = new GRBLinExpr();
+ for (int i = 0; i < tList.size(); i++) {
+ int t = tList.get(i);
+ double p = combo.get(t);
+ if (i > 0) sb.append(", ");
+ sb.append("state ").append(t).append(": ")
+ .append(String.format(Locale.US, "%.9f", p));
+ expr.addTerm(p, v.get(t));
+ }
+ // indicator-style big-M for the chosen (s,c)
+ expr.addConstant(+BIG);
+ expr.addTerm(-BIG, eta.get(sc));
+ m.addConstr(v.get(s), GRB.LESS_EQUAL, expr,
+ "state-"+s+"-choice-"+c+"-combination-"+count);
+
+ count++;
+ }
+ }
+ }
+
+ // --- 3) Action‐selection: sum η ≥ 1 at each state ---
+ states = eS.iterator();
+ while(states.hasNext()) {
+ final int s = states.nextInt();
+ GRBLinExpr expr = new GRBLinExpr();
+ for (int c = 0; c < imdp.getNumChoices(s); c++)
+ expr.addTerm(1.0, eta.get(s+"-"+c));
+ m.addConstr(expr, GRB.GREATER_EQUAL, 1.0, "actSel-"+s);
+ }
+
+
+ // 3g) Bellman
+ m.addConstr(v.get(sInit), GRB.GREATER_EQUAL, bound, "multi-bound");
+ m.update();
+
+
+
+ // 5) objective: minimize sum(1−η) ≡ minimize ( #actions − sum η )
+ GRBLinExpr pen = new GRBLinExpr();
+
+ for (int s = 0; s < n; s++){
+ int numChoices = imdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++){
+ String sc = s +"-"+c;
+ pen.addConstant(1.0);
+ pen.addTerm(-1.0, eta.get(sc));
+ }
+ }
+
+ m.setObjective(pen, GRB.MINIMIZE);
+
+ // set the model’s objective to pen, minimize it
+
+ m.setObjective(pen, GRB.MINIMIZE);
+ /*GRBLinExpr pen = new GRBLinExpr();
+ pen.addTerm(1.0, v.get(sInit));
+ m.setObjective(pen, GRB.MAXIMIZE);*/
+ int numVars = m.get(GRB.IntAttr.NumVars);
+ int numConstr = m.get(GRB.IntAttr.NumConstrs);
+ int numIntVars = m.get(GRB.IntAttr.NumIntVars); // counts both BINARY and INTEGER types
+ int numContVars = numVars - numIntVars;
+ mainLog.println("Continuous Variables = " + numContVars + ", Integer Variables = "+ numIntVars + ", Constraints = " + numConstr);
+ System.out.println("Continuous Variables = " + numContVars + ", Integer Variables = "+ numIntVars + ", Constraints = " + numConstr);
+
+ m.setCallback(new trigger(m, 3600.0));
+ m.write("gurobi.lp");
+
+ long timerGurobi = System.currentTimeMillis();
+ m.optimize();
+ long afterGurobi = System.currentTimeMillis();
+ long timeTake = afterGurobi - timerGurobi;
+ mainLog.println("Gurobi Solve time: " + timeTake);
+
+ //System.out.printf("v[0]: %.4f%n", v.get(0).get(GRB.DoubleAttr.X));
+ if (m.get(GRB.IntAttr.Status) == GRB.Status.INFEASIBLE) {
+ System.out.println("Model infeasible—computing IIS...");
+ m.computeIIS();
+ for (GRBConstr c : m.getConstrs()) {
+ if (c.get(GRB.IntAttr.IISConstr) == 1) {
+ System.out.println("IIS: " + c.get(GRB.StringAttr.ConstrName));
+ }
+ }
+ // Optionally write the IIS to a file:
+ m.write("model.IIS");
+ }
+ int status = m.get(GRB.IntAttr.Status);
+ System.out.println("Gurobi Status = " + status);
+
+ soln = new double[n];
+ for (int s = 0; s < n; s++) {
+ soln[s] = v.get(s).get(GRB.DoubleAttr.X);
+ mainLog.println("state: " + s + ", value: " + soln[s]);
+ }
+
+ mainLog.println("Multi Strategy to Obtain at least under worst assumption of adversary" + bound);
+
+
+ // How many solutions are in the pool?
+ int solCount = m.get(GRB.IntAttr.SolCount);
+
+ // Loop over each solution k=0…solCount−1
+
+
+ for (int s = 0; s < n; s++) {
+ mainLog.print(s + ":");
+ int numChoices = imdp.getNumChoices(s);
+ for (int i = 0; i < numChoices; i++) {
+ String sc = s +"-"+i;
+ if (eta.get(sc).get(GRB.DoubleAttr.X) > 0) {
+ mainLog.print(" " + imdp.getAction(s, i));
+ }
+ }
+ mainLog.println();
+ }
+ int permC = 0;
+ for (int s = 0; s < n; s++) {
+ //System.out.println(v.get(s).get(GRB.StringAttr.VarName) + " = "+v.get(s).get(GRB.DoubleAttr.X));
+ int numChoices = imdp.getNumChoices(s);
+
+ if (numChoices == 1){
+ continue;
+ } else {
+ int tmC = 0;
+ for (int i = 0; i < numChoices; i++) {
+ String sc = s +"-"+i;
+ if (eta.get(sc).get(GRB.DoubleAttr.X) > 0) {
+ tmC += 1;
+ }
+ }
+ if (tmC > 1){
+ permC += 1;
+ }
+ }
+ }
+ mainLog.println("Number of Permissive States: " + permC);
+ mainLog.println("Value at inital state " + v.get(sInit).get(GRB.DoubleAttr.X));
+
+ int reachable = 0;
+ int reachable_state = 0;
+ for (int s = 0; s < n; s++) {
+ if (soln[s] > 0.0){
+ if (soln[s] < 1.0){
+ reachable_state += 1;
+ int numChoices = imdp.getNumChoices(s);
+ if (numChoices == 1){
+ continue;
+ } else {
+ for (int i = 0; i < numChoices; i++) {
+ reachable += 1;
+ }
+ }
+ }
+
+
+ }
+ }
+
+ mainLog.println("Total number of reachable permissable state-action pairs: " + reachable);
+ mainLog.println("Reachable States: " + reachable_state);
+
+
+ reachable = 0;
+ for (int s = 0; s < n; s++) {
+ if (soln[s] > 0.0){
+ if (soln[s] <= 1.0){
+ int numChoices = imdp.getNumChoices(s);
+
+ for (int i = 0; i < numChoices; i++) {
+ reachable += 1;
+ }
+ }
+
+
+
+ }
+ }
+
+ mainLog.println("Total number of reachable state-action pairs: " + reachable);
+ m.dispose();
+ env.dispose();
+ } catch (GRBException e) {
+ throw new PrismException("Error solving LP: " +e.getMessage());
+ }
+ }
+ long time = (System.currentTimeMillis() - timer);
+ mainLog.println("It took "+time + " milli-seconds to finish synthesize the permissive strategy");
+
+ // Return results
+ ModelCheckerResult res = new ModelCheckerResult();
+// res.accuracy = AccuracyFactory.boundedNumericalIterations();
+ res.soln = soln;
+// res.timeTaken = timer / 1000.0;
+ return res;
+ }
+
+ /* public static List> findExtremeCombos(
+ List tList,
+ List loList,
+ List hiList,
+ double tol
+ ) {
+ final int n = tList.size();
+ if (loList.size() != n || hiList.size() != n) {
+ throw new IllegalArgumentException("tList, loList, hiList must have same length");
+ }
+
+ // Copy into arrays for speed; normalize (lo<=hi).
+ final int[] t = new int[n];
+ final double[] lo = new double[n];
+ final double[] hi = new double[n];
+ for (int i = 0; i < n; i++) {
+ t[i] = tList.get(i);
+ double a = loList.get(i), b = hiList.get(i);
+ lo[i] = Math.min(a, b);
+ hi[i] = Math.max(a, b);
+ }
+
+ // Suffix MIN/MAX over remaining indices i..n-1 for pruning.
+ final double[] minSuf = new double[n + 1];
+ final double[] maxSuf = new double[n + 1];
+ for (int i = n - 1; i >= 0; --i) {
+ minSuf[i] = minSuf[i + 1] + Math.min(lo[i], hi[i]);
+ maxSuf[i] = maxSuf[i + 1] + Math.max(lo[i], hi[i]);
+ }
+
+ // Global feasibility check.
+ if (1.0 < minSuf[0] - tol || 1.0 > maxSuf[0] + tol) {
+ return Collections.emptyList();
+ }
+
+ final List> out = new ArrayList<>();
+ final int[] choice = new int[n]; // 0 => lo[i], 1 => hi[i]
+
+ // DFS with branch-and-bound.
+ class DFS {
+ void go(int i, double sum) {
+ if (i == n) {
+ if (Math.abs(sum - 1.0) <= tol) {
+ // Build { t -> chosen value } for this combination.
+ Map combo = new LinkedHashMap<>(n);
+ for (int k = 0; k < n; k++) {
+ combo.put(t[k], choice[k] == 0 ? lo[k] : hi[k]);
+ }
+ out.add(combo);
+ }
+ return;
+ }
+ double low = sum + minSuf[i];
+ double high = sum + maxSuf[i];
+ if (1.0 < low - tol || 1.0 > high + tol) return; // prune
+
+ choice[i] = 0; go(i + 1, sum + lo[i]); // pick lower
+ choice[i] = 1; go(i + 1, sum + hi[i]); // pick upper
+ }
+ }
+ new DFS().go(0, 0.0);
+ return out;
+ } */
+
+ public static List> findExtremeCombos(
+ List tList,
+ List loList,
+ List hiList,
+ double tol,
+ int freeState // the state id that gets the dumped remainder
+ ) {
+ final int n = tList.size();
+ System.out.println("n = " + n);
+ System.out.println(loList.size());
+ System.out.println(hiList.size());
+ if (loList.size() != n || hiList.size() != n) {
+ throw new IllegalArgumentException("tList, loList, hiList must have same length");
+ }
+
+ // copy + normalize
+ final int[] t = new int[n];
+ final double[] lo = new double[n];
+ final double[] hi = new double[n];
+ for (int i = 0; i < n; i++) {
+ t[i] = tList.get(i);
+ double a = loList.get(i), b = hiList.get(i);
+ lo[i] = Math.min(a, b);
+ hi[i] = Math.max(a, b);
+ }
+
+ // locate free index by state id
+ int jTmp = -1;
+ for (int i = 0; i < n; i++) if (t[i] == freeState) { jTmp = i; break; }
+ if (jTmp < 0) throw new IllegalArgumentException("freeState not found in tList");
+
+ // **** make all captured locals final ****
+ final int freeIdx = jTmp;
+ final int nLocal = n;
+
+ // build arrays for the other (n-1) indices
+ final int m = nLocal - 1;
+ final int[] tO = new int[m];
+ final double[] loO = new double[m];
+ final double[] hiO = new double[m];
+ for (int i = 0, k = 0; i < nLocal; i++) {
+ if (i == freeIdx) continue;
+ tO[k] = t[i];
+ loO[k] = lo[i];
+ hiO[k] = hi[i];
+ k++;
+ }
+ final double loJ = lo[freeIdx], hiJ = hi[freeIdx];
+ final int tJ = t[freeIdx];
+
+ // suffix bounds over "others"
+ final double[] minSuf = new double[m + 1];
+ final double[] maxSuf = new double[m + 1];
+ for (int i = m - 1; i >= 0; --i) {
+ minSuf[i] = minSuf[i + 1] + Math.min(loO[i], hiO[i]);
+ maxSuf[i] = maxSuf[i + 1] + Math.max(loO[i], hiO[i]);
+ }
+
+ // feasible sum range for others so that p_free is within its interval
+ final double sMinFeas = 1.0 - hiJ;
+ final double sMaxFeas = 1.0 - loJ;
+ if (maxSuf[0] + tol < sMinFeas || minSuf[0] - tol > sMaxFeas) {
+ return Collections.emptyList();
+ }
+
+ final List> out = new ArrayList<>();
+ final int[] choice = new int[m]; // 0->lo, 1->hi
+
+ class DFS {
+ void go(int i, double sumOthers) {
+ if (i == m) {
+ final double pJ = 1.0 - sumOthers;
+ if (pJ >= loJ - tol && pJ <= hiJ + tol) {
+ Map combo = new LinkedHashMap<>(nLocal);
+ int k = 0;
+ for (int idx = 0; idx < nLocal; idx++) {
+ if (idx == freeIdx) {
+ combo.put(tJ, pJ);
+ } else {
+ double v = (choice[k] == 0 ? loO[k] : hiO[k]);
+ combo.put(tO[k], v);
+ k++;
+ }
+ }
+ out.add(combo);
+ }
+ return;
+ }
+ double low = sumOthers + minSuf[i];
+ double high = sumOthers + maxSuf[i];
+ if (high + tol < sMinFeas || low - tol > sMaxFeas) return;
+
+ choice[i] = 0; go(i + 1, sumOthers + loO[i]);
+ choice[i] = 1; go(i + 1, sumOthers + hiO[i]);
+ }
+ }
+ new DFS().go(0, 0.0);
+ return out;
+ }
+
+ // Helper to de-dupe combos (round to ~1e-12 to be safe)
+ static String comboKey(Map combo, List tOrder) {
+ StringBuilder sb = new StringBuilder();
+ for (int tt : tOrder) {
+ double p = combo.get(tt);
+ sb.append(tt).append(':')
+ .append(String.format(Locale.US, "%.12f", p))
+ .append('|');
+ }
+ return sb.toString();
+ }
+
+
+
/**
* Simple test program.
diff --git a/prism/src/explicit/MDPModelChecker.java b/prism/src/explicit/MDPModelChecker.java
index 8226c19b06..403a1f2f46 100644
--- a/prism/src/explicit/MDPModelChecker.java
+++ b/prism/src/explicit/MDPModelChecker.java
@@ -26,16 +26,25 @@
package explicit;
+import java.util.ArrayList;
import java.util.Arrays;
import java.util.BitSet;
+import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import java.util.Map.Entry;
import java.util.PrimitiveIterator;
+import java.util.TreeMap;
import acceptance.AcceptanceReach;
import acceptance.AcceptanceType;
+import com.gurobi.gurobi.GRB;
+import com.gurobi.gurobi.GRBEnv;
+import com.gurobi.gurobi.GRBException;
+import com.gurobi.gurobi.GRBLinExpr;
+import com.gurobi.gurobi.GRBModel;
+import com.gurobi.gurobi.GRBVar;
import common.IntSet;
import common.IterableBitSet;
import common.IterableStateSet;
@@ -48,8 +57,12 @@
import explicit.rewards.MDPRewards;
import explicit.rewards.Rewards;
import io.ModelExportOptions;
+import lpsolve.LpSolve;
+import lpsolve.LpSolveException;
import parser.ast.Expression;
import parser.type.TypeDouble;
+import prism.Accuracy;
+import prism.Accuracy.AccuracyLevel;
import prism.AccuracyFactory;
import prism.OptionsIntervalIteration;
import prism.Prism;
@@ -63,15 +76,21 @@
import prism.PrismUtils;
import strat.FMDStrategyProduct;
import strat.FMDStrategyStep;
+import strat.MDPMultiStrat;
import strat.MDStrategy;
import strat.MDStrategyArray;
import strat.Strategy;
+import strat.MDPMultiStrat;
/**
* Explicit-state model checker for Markov decision processes (MDPs).
*/
public class MDPModelChecker extends ProbModelChecker
{
+ public enum LPSolver { LPSOLVE, GUROBI }
+
+ protected LPSolver lpSolver = LPSolver.GUROBI;
+
/**
* Create a new MDPModelChecker, inherit basic state from parent (unless null).
*/
@@ -318,12 +337,6 @@ public ModelCheckerResult computeReachProbs(MDP mdp, BitSet remain, BitS
boolean doPmaxQuotient = this.doPmaxQuotient;
- // Switch to a supported method, if necessary
- if (mdpSolnMethod == MDPSolnMethod.LINEAR_PROGRAMMING) {
- mdpSolnMethod = MDPSolnMethod.GAUSS_SEIDEL;
- mainLog.printWarning("Switching to MDP solution method \"" + mdpSolnMethod.fullName() + "\"");
- }
-
// Check for some unsupported combinations
if (mdpSolnMethod == MDPSolnMethod.VALUE_ITERATION && valIterDir == ValIterDir.ABOVE) {
if (!(precomp && prob0))
@@ -353,6 +366,14 @@ public ModelCheckerResult computeReachProbs(MDP mdp, BitSet remain, BitS
throw new PrismException("Policy iteration methods cannot be passed 'known' values for some states");
}
}
+ if (mdpSolnMethod == MDPSolnMethod.LINEAR_PROGRAMMING) {
+ if (!(precomp && prob0)) {
+ throw new PrismNotSupportedException("Prob0 precomputation must be enabled for linear programming");
+ }
+ if (!min && genStrat) {
+ throw new PrismNotSupportedException("Currently, explicit engine does not support strategy generation for linear programming and Rmax");
+ }
+ }
if (doPmaxQuotient && min) {
// for Pmin, don't do quotient
@@ -532,6 +553,9 @@ protected ModelCheckerResult computeReachProbsNumeric(MDP mdp, MDPSolnMe
}
res = computeReachProbsModPolIter(mdp, no, yes, min, strat);
break;
+ case LINEAR_PROGRAMMING:
+ res = computeReachProbsLP(mdp, no, yes, min, strat);
+ break;
default:
throw new PrismException("Unknown MDP solution method " + mdpSolnMethod.fullName());
}
@@ -749,6 +773,96 @@ public BitSet prob1(MDP mdp, BitSet remain, BitSet target, boolean min, int s
return u;
}
+ /**
+ * Zero total rewards precomputation algorithm, i.e., determine the states of an MDP
+ * from which the min/max expected total cumulative rewards is zero.
+ * @param mdp The MDP
+ * @param mdpRewards The rewards
+ * @param min Min or max rewards (true=min, false=max)
+ */
+ public BitSet rewTot0(MDP mdp, MDPRewards mdpRewards, boolean min)
+ {
+ int n, iters;
+ BitSet v, soln;
+ boolean v_done;
+ long timer;
+
+ // Start precomputation
+ timer = System.currentTimeMillis();
+ if (!silentPrecomputations)
+ mainLog.println("Starting RewTot0 (" + (min ? "min" : "max") + ")...");
+
+ // Initialise vectors
+ n = mdp.getNumStates();
+ v = new BitSet(n);
+ soln = new BitSet(n);
+
+ // Fixed point loop
+ iters = 0;
+ v_done = false;
+ // Least fixed point - start from 0
+ v.clear();
+ soln.clear();
+ while (!v_done) {
+ iters++;
+ rewTot0step(mdp, mdpRewards, v, min, soln);
+ // Check termination (inner)
+ v_done = soln.equals(v);
+ // v = soln
+ v.clear();
+ v.or(soln);
+ }
+
+ // Negate
+ v.flip(0, n);
+
+ // Finished precomputation
+ timer = System.currentTimeMillis() - timer;
+ if (!silentPrecomputations) {
+ mainLog.print("RewTot0 (" + (min ? "min" : "max") + ")");
+ mainLog.println(" took " + iters + " iterations and " + timer / 1000.0 + " seconds.");
+ }
+
+ return v;
+ }
+
+ /**
+ * Perform a single step of zero total rewards precomputation algorithm,
+ * i.e., set bit i of {@code result} iff, there is a positive (state or transition)
+ * reward or, for some/all choices, there is a transition to a state in {@code u}.
+ * @param mdp The MDP
+ * @param mdpRewards The rewards
+ * @param u Set of states {@code u}
+ * @param forall For-all or there-exists (true=for-all, false=there-exists)
+ * @param result Store results here
+ */
+ private void rewTot0step(final MDP mdp, final MDPRewards mdpRewards, final BitSet u, final boolean forall, BitSet result)
+ {
+ int n = mdp.getNumStates();
+ for (int s = 0; s < n; s++) {
+ if (mdpRewards.getStateReward(s) > 0) {
+ result.set(s);
+ continue;
+ }
+ boolean b1 = forall; // there exists or for all
+ for (int choice = 0, numChoices = mdp.getNumChoices(s); choice < numChoices; choice++) {
+ boolean b2 = mdpRewards.getTransitionReward(s, choice) > 0 || mdp.someSuccessorsInSet(s, choice, u);
+ if (forall) {
+ if (!b2) {
+ b1 = false;
+ break;
+ }
+ } else {
+ if (b2) {
+ b1 = true;
+ break;
+ }
+ }
+ }
+ result.set(s, b1);
+ }
+ }
+
/**
* Compute reachability probabilities using value iteration.
* Optionally, store optimal (memoryless) strategy info.
@@ -1186,6 +1300,231 @@ protected ModelCheckerResult computeReachProbsModPolIter(MDP mdp, BitSet
return res;
}
+ /**
+ * Compute reachability probabilities using linear programming.
+ * @param mdp: The MDP
+ * @param no: Probability 0 states
+ * @param yes: Probability 1 states
+ * @param min: Min or max probabilities (true=min, false=max)
+ * @param strat Storage for (memoryless) strategy choice indices (ignored if null)
+ */
+ protected ModelCheckerResult computeReachProbsLP(MDP mdp, BitSet no, BitSet yes, boolean min, int[] strat) throws PrismException
+ {
+ double[] soln = null;
+ long timer;
+
+ // Start solution
+ timer = System.currentTimeMillis();
+ mainLog.println("Starting linear programming (" + (min ? "min" : "max") + ")...");
+
+ // Store num states
+ int n = mdp.getNumStates();
+
+ // Determine set of states actually need to perform computation for
+ BitSet unknown = new BitSet();
+ unknown.set(0, n);
+ unknown.andNot(yes);
+ unknown.andNot(no);
+
+ switch (lpSolver) {
+ case LPSOLVE:
+ soln = solveReachProbsLPWithLPSolve(mdp, no, yes, unknown, min, strat);
+ break;
+ case GUROBI:
+ soln = solveReachProbsLPWithGurobi(mdp, no, yes, unknown, min, strat);
+ break;
+ }
+
+ // We do an extra iteration of VI (using GS since we have just one solution vector)
+ // If strategy generation was requested (strat != null), this takes care of it
+ // (NB: that only works reliably for min - max needs more work - but this is disallowed earlier)
+ // It also has the side-effect of sometimes fixing small round-off errors from LP
+ mdp.mvMultGSMinMax(soln, min, unknown, false, true, strat);
+
+ // Finished solution
+ timer = System.currentTimeMillis() - timer;
+ mainLog.print("Linear programming");
+ mainLog.println(" took " + timer / 1000.0 + " seconds.");
+
+ // Return results
+ // (Note we don't add the strategy - the one passed in is already there
+ // and might have some existing choices stored for other states).
+ ModelCheckerResult res = new ModelCheckerResult();
+ res.soln = soln;
+ res.accuracy = new Accuracy(AccuracyLevel.EXACT_FLOATING_POINT);
+ res.timeTaken = timer / 1000.0;
+ return res;
+ }
+
+ /**
+ * Solve the linear program for reachability probabilities with LPSolve.
+ * @param mdp: The MDP
+ * @param no: Probability 0 states
+ * @param yes: Probability 1 states
+ * @param min: Min or max probabilities (true=min, false=max)
+ * @param strat Storage for (memoryless) strategy choice indices (ignored if null)
+ */
+ protected double[] solveReachProbsLPWithLPSolve(MDP mdp, BitSet no, BitSet yes, BitSet unknown, boolean min, int strat[]) throws PrismException
+ {
+ double[] soln = null;
+ int n = mdp.getNumStates();
+ try {
+ // Initialise LP solver
+ LpSolve solver = LpSolve.makeLp(0, n);
+ solver.setVerbose(lpsolve.LpSolve.CRITICAL);
+ solver.setAddRowmode(true);
+ // Set up arrays for passing LP to solver
+ double[] row = new double[n + 1];
+ int[] colno = new int[n + 1];
+ // Set objective function
+ if (min) {
+ solver.setMaxim();
+ } else {
+ solver.setMinim();
+ }
+ for (int s : new IterableBitSet(unknown)) {
+ row[s + 1] = 1.0;
+ }
+ solver.setObjFn(row);
+ // Add constraints
+ for (int s = 0; s < n; s++) {
+ solver.setBounds(s + 1, 0, 1);
+ if (yes.get(s)) {
+ row[0] = 1.0;
+ colno[0] = s + 1;
+ solver.addConstraintex(1, row, colno, LpSolve.EQ, 1.0);
+ } else if (no.get(s)) {
+ row[0] = 1.0;
+ colno[0] = s + 1;
+ solver.addConstraintex(1, row, colno, LpSolve.EQ, 0.0);
+ } else {
+ int numChoices = mdp.getNumChoices(s);
+ for (int i = 0; i < numChoices; i++) {
+ int count = 0;
+ row[count] = 1.0;
+ colno[count] = s + 1;
+ count++;
+ Iterator> iter = mdp.getTransitionsIterator(s, i);
+ while (iter.hasNext()) {
+ Map.Entry e = iter.next();
+ int t = e.getKey();
+ double p = e.getValue();
+ if (t == s) {
+ row[0] -= p;
+ } else {
+ row[count] = -p;
+ colno[count] = t + 1;
+ count++;
+ }
+ }
+ solver.addConstraintex(count, row, colno, min ? LpSolve.LE : LpSolve.GE, 0.0);
+ }
+ }
+ }
+ // Solve LP
+ solver.setAddRowmode(false);
+ //solver.printLp();
+ int lpRes = solver.solve();
+ if (lpRes == lpsolve.LpSolve.OPTIMAL) {
+ soln = solver.getPtrVariables();
+ } else {
+ throw new PrismException("Error solving LP" + (lpRes == lpsolve.LpSolve.INFEASIBLE ? " (infeasible)" : ""));
+ }
+ // Clean up
+ solver.deleteLp();
+ // Return solution
+ return soln;
+ } catch (LpSolveException e) {
+ throw new PrismException("Error solving LP: " +e.getMessage());
+ }
+ }
+
+ /**
+ * Solve the linear program for reachability probabilities with Gurobi.
+ * @param mdp: The MDP
+ * @param no: Probability 0 states
+ * @param yes: Probability 1 states
+ * @param min: Min or max probabilities (true=min, false=max)
+ * @param strat Storage for (memoryless) strategy choice indices (ignored if null)
+ */
+ protected double[] solveReachProbsLPWithGurobi(MDP mdp, BitSet no, BitSet yes, BitSet unknown, boolean min, int strat[]) throws PrismException
+ {
+ double[] soln = null;
+ int n = mdp.getNumStates();
+ try {
+ // Initialise LP solver
+ GRBEnv env = new GRBEnv("gurobi.log");
+ env.set(GRB.IntParam.OutputFlag, 0);
+ GRBModel model = new GRBModel(env);
+ // Set up LP variables + objective function
+ GRBVar xVars[] = new GRBVar[n];
+ for (int s = 0; s < n; s++) {
+ xVars[s] = model.addVar(0.0, 1.0, unknown.get(s) ? 1.0 : 0.0, GRB.CONTINUOUS, "x" + s);
+ }
+ model.set(GRB.IntAttr.ModelSense, min ? -1 : 1);
+ // Set up arrays for passing LP to solver
+ double row[] = new double[n + 1];
+ int colno[] = new int[n + 1];
+ // Add constraints
+ int counter = 0;
+ for (int s = 0; s < n; s++) {
+ if (yes.get(s)) {
+ GRBLinExpr expr = new GRBLinExpr();
+ expr.addTerm(1.0, xVars[s]);
+ model.addConstr(expr, GRB.EQUAL, 1.0, "c" + counter++);
+ } else if (no.get(s)) {
+ GRBLinExpr expr = new GRBLinExpr();
+ expr.addTerm(1.0, xVars[s]);
+ model.addConstr(expr, GRB.EQUAL, 0.0, "c" + counter++);
+ } else {
+ int numChoices = mdp.getNumChoices(s);
+ for (int i = 0; i < numChoices; i++) {
+ int count = 0;
+ row[count] = 1.0;
+ colno[count] = s + 1;
+ count++;
+ Iterator> iter = mdp.getTransitionsIterator(s, i);
+ while (iter.hasNext()) {
+ Map.Entry e = iter.next();
+ int t = e.getKey();
+ double p = e.getValue();
+ if (t == s) {
+ row[0] -= p;
+ } else {
+ row[count] = -p;
+ colno[count] = t + 1;
+ count++;
+ }
+ }
+ GRBLinExpr expr = new GRBLinExpr();
+ for (int j = 0; j < count; j++) {
+ expr.addTerm(row[j], xVars[colno[j] - 1]);
+ }
+ model.addConstr(expr, min ? GRB.LESS_EQUAL : GRB.GREATER_EQUAL, 0.0, "c" + counter++);
+ }
+ }
+ }
+ // Solve LP
+ //model.write("gurobi.lp");
+ model.optimize();
+ if (model.get(GRB.IntAttr.Status) == GRB.Status.OPTIMAL) {
+ soln = new double[n];
+ for (int s = 0; s < n; s++) {
+ soln[s] = xVars[s].get(GRB.DoubleAttr.X);
+ }
+ } else {
+ throw new PrismException("Error solving LP" + (model.get(GRB.IntAttr.Status) == GRB.Status.INFEASIBLE ? " (infeasible)" : ""));
+ }
+ // Clean up
+ model.dispose();
+ env.dispose();
+ // Return solution
+ return soln;
+ } catch (GRBException e) {
+ throw new PrismException("Error solving LP: " +e.getMessage());
+ }
+ }
+
/**
* Construct strategy information for min/max reachability probabilities.
* (More precisely, list of indices of choices resulting in min/max.)
@@ -2075,7 +2414,7 @@ public ModelCheckerResult computeReachRewards(MDP mdp, MDPRewards mdp, MDPRewards mdp, MDPRewa
}
res = computeReachRewardsPolIter(mdp, mdpRewards, target, inf, min, strat);
break;
+ case LINEAR_PROGRAMMING:
+ res = computeReachRewardsLP(mdp, mdpRewards, target, inf, min, strat);
+ break;
default:
throw new PrismException("Unknown MDP solution method " + method.fullName());
}
@@ -2627,6 +2977,130 @@ protected ModelCheckerResult computeReachRewardsPolIter(MDP mdp, MDPRewa
return res;
}
+ /**
+ * Compute expected reachability rewards using linear programming.
+ * @param mdp: The MDP
+ * @param mdpRewards The rewards
+ * @param target Target states
+ * @param inf States for which reward is infinite
+ * @param min: Min or max probabilities (true=min, false=max)
+ * @param strat Storage for (memoryless) strategy choice indices (ignored if null)
+ */
+ protected ModelCheckerResult computeReachRewardsLP(MDP mdp, MDPRewards mdpRewards, BitSet target, BitSet inf, boolean min, int strat[]) throws PrismException
+ {
+ double[] soln = null;
+ long timer;
+
+ // Start solution
+ timer = System.currentTimeMillis();
+ mainLog.println("Starting linear programming (" + (min ? "min" : "max") + ")...");
+
+ // Store num states
+ int n = mdp.getNumStates();
+
+ // Determine set of states actually need to perform computation for
+ BitSet unknown = new BitSet();
+ unknown.set(0, n);
+ unknown.andNot(target);
+ unknown.andNot(inf);
+
+ try {
+ // Initialise LP solver
+ LpSolve solver = LpSolve.makeLp(0, n);
+ solver.setVerbose(lpsolve.LpSolve.CRITICAL);
+ solver.setAddRowmode(true);
+ // Set up arrays for passing LP to solver
+ double[] row = new double[n + 1];
+ int[] colno = new int[n + 1];
+ // Set objective function
+ if (min) {
+ solver.setMaxim();
+ } else {
+ solver.setMinim();
+ }
+ for (int s : new IterableBitSet(unknown)) {
+ row[s + 1] = 1.0;
+ }
+ solver.setObjFn(row);
+ // Add constraints
+ for (int s = 0; s < n; s++) {
+ solver.setBounds(s + 1, 0, Double.POSITIVE_INFINITY);
+ if (!unknown.get(s)) {
+ row[0] = 1.0;
+ colno[0] = s + 1;
+ solver.addConstraintex(1, row, colno, LpSolve.EQ, 0.0);
+ } else {
+ int numChoices = mdp.getNumChoices(s);
+ for (int i = 0; i < numChoices; i++) {
+ int count = 0;
+ row[count] = 1.0;
+ colno[count] = s + 1;
+ count++;
+ boolean toInf = false;
+ Iterator> iter = mdp.getTransitionsIterator(s, i);
+ while (iter.hasNext()) {
+ Map.Entry e = iter.next();
+ int t = e.getKey();
+ double p = e.getValue();
+ if (t == s) {
+ row[0] -= p;
+ } else {
+ row[count] = -p;
+ colno[count] = t + 1;
+ count++;
+ }
+ toInf = toInf || inf.get(t);
+ }
+ // We ignore choices that may lead to an inf states
+ // (inf states are not handled by the LP so given value 0)
+ if (!toInf) {
+ double rew = mdpRewards.getStateReward(s) + mdpRewards.getTransitionReward(s, i);
+ solver.addConstraintex(count, row, colno, min ? LpSolve.LE : LpSolve.GE, rew);
+ }
+ }
+ }
+ }
+ // Solve LP
+ solver.setAddRowmode(false);
+ //solver.printLp();
+ int lpRes = solver.solve();
+ if (lpRes == lpsolve.LpSolve.OPTIMAL) {
+ soln = solver.getPtrVariables();
+ } else {
+ throw new PrismException("Error solving LP" + (lpRes == lpsolve.LpSolve.INFEASIBLE ? " (infeasible)" : ""));
+ }
+ // Clean up
+ solver.deleteLp();
+ } catch (LpSolveException e) {
+ throw new PrismException("Error solving LP: " +e.getMessage());
+ }
+
+ // Set value for states with infinite rewards
+ for (int s : new IterableBitSet(inf)) {
+ soln[s] = Double.POSITIVE_INFINITY;
+ }
+
+ // We do an extra iteration of VI (using GS since we have just one solution vector)
+ // If strategy generation was requested (strat != null), this takes care of it
+ // (NB: that only works reliably for min - max needs more work - but this is disallowed earlier)
+ // It also has the side-effect of sometimes fixing small round-off errors from LP
+ mdp.mvMultRewGSMinMax(soln, mdpRewards, min, unknown, false, true, strat);
+
+ // Finished solution
+ timer = System.currentTimeMillis() - timer;
+ mainLog.print("Linear programming");
+ mainLog.println(" took " + timer / 1000.0 + " seconds.");
+
+ // Return results
+ // (Note we don't add the strategy - the one passed in is already there
+ // and might have some existing choices stored for other states).
+ ModelCheckerResult res = new ModelCheckerResult();
+ res.soln = soln;
+ res.accuracy = new Accuracy(AccuracyLevel.EXACT_FLOATING_POINT);
+ res.timeTaken = timer / 1000.0;
+ return res;
+ }
+
/**
* Construct strategy information for min/max expected reachability.
* (More precisely, list of indices of choices resulting in min/max.)
@@ -2644,6 +3118,196 @@ public List expReachStrategy(MDP mdp, MDPRewards mdpRew
return mdp.mvMultRewMinMaxSingleChoices(state, lastSoln, mdpRewards, min, val);
}
+ /**
+ * Compute a multi-strategy for...
+ * @param mdp: The MDP
+ * @param mdpRewards The rewards
+ * @param bound Reward bound
+ */
+ public ModelCheckerResult computeMultiStrategy(MDP mdp, MDPRewards mdpRewards, double bound) throws PrismException
+ {
+ boolean min = true;
+ double[] soln = null;
+
+ // Start solution
+ long timer = System.currentTimeMillis();
+ mainLog.println("Starting linear programming (" + (min ? "min" : "max") + ")...");
+
+ // Store MDP info
+ int n = mdp.getNumStates();
+ int sInit = mdp.getFirstInitialState();
+ // Find states where max expected total reward is 0
+ BitSet maxRew0 = rewTot0(mdp, mdpRewards, false);
+ IntSet maxRew = IntSet.asIntSet(maxRew0);
+ int[] target = new int[1];
+ target[0]=10;
+ double BIG = 1000.0;
+ int[][] choices = new int[n][];
+
+ try {
+ // Initialise MILP solver
+ GRBEnv env = new GRBEnv("gurobi.log");
+ env.set(GRB.IntParam.OutputFlag, 0);
+ GRBModel m = new GRBModel(env);
+ Map v;
+ Map eta;
+
+ // Value-function
+ v = new HashMap<>();
+ for (int s = 0; s ();
+ for (int s = 0; s = 1.0, deter == 1.0)
+ for (int s = 0; s < n; s++){
+ GRBLinExpr expr = new GRBLinExpr();
+ int numChoices = mdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++){
+ String sc = s + "-" + c;
+ expr.addTerm(1.0, eta.get(sc));
+ }
+ m.addConstr(expr,GRB.GREATER_EQUAL, 1.0, null);
+ }
+
+ // Bellman constraint
+ for (int s = 0; s < n; s ++){
+ int numChoices = mdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++){
+ GRBLinExpr expr = new GRBLinExpr();
+ double reward = mdpRewards.getTransitionReward(s, c);
+ Iterator> iter = mdp.getTransitionsIterator(s, c);
+ expr.addConstant(reward);
+ GRBLinExpr ins = new GRBLinExpr();
+ while (iter.hasNext()){
+ Map.Entry e = iter.next();
+ int t = e.getKey();
+ Double transition_val = e.getValue();
+ ins.addTerm(transition_val, v.get(t));
+ }
+ expr.add(ins);
+ String sc = s +"-"+c;
+ if (min == true){
+ expr.addConstant(-BIG);
+ expr.addTerm(+BIG,eta.get(sc));
+ } else {
+ expr.addConstant(+BIG);
+ expr.addTerm(-BIG,eta.get(sc));
+ }
+ m.addConstr(v.get(s),GRB.GREATER_EQUAL,expr,"bell-"+sc);
+ }
+ }
+
+ // Bound for v[0];
+ if (min == true){
+ m.addConstr(v.get(sInit), GRB.LESS_EQUAL, bound, "multi-bound");
+ } else {
+ m.addConstr(v.get(sInit), GRB.GREATER_EQUAL, bound, "multi-bound");
+ }
+ m.update();
+
+ // Objective
+ GRBLinExpr pen = new GRBLinExpr();
+ for (int s = 0; s < n; s++){
+ int numChoices = mdp.getNumChoices(s);
+ for (int c = 0; c < numChoices; c++){
+ String sc = s +"-"+c;
+ pen.addConstant(1.0);
+ pen.addTerm(-1.0, eta.get(sc));
+ }
+ }
+
+ // set the model’s objective to pen, minimize it
+ m.setObjective(pen, GRB.MINIMIZE);
+
+ // now optimize
+ m.optimize();
+
+ // build a map from state → list of allowed choices
+ Map> allowed = new TreeMap<>();
+ for (int s = 0; s < n; s++) {
+ allowed.put(s, new ArrayList<>());
+ }
+
+ for (int s = 0; s < n; s++) {
+ int numChoices = mdp.getNumChoices(s);
+ int[] tempC = new int[numChoices];
+ for (int c = 0; c < numChoices; c++) {
+ String sc = s + "-" + c;
+ GRBVar var = eta.get(sc);
+ if (var.get(GRB.DoubleAttr.X) > 0.5) {
+ // eta[s,c] = 1 in the solution → choice c is allowed in state s
+ allowed.get(s).add(c);
+ tempC[c] = c;
+ }
+ }
+ choices[s] = tempC;
+ }
+
+ // now print
+ System.out.println("Multi‑strategy:");
+ for (int s = 0; s < n; s++) {
+ List c = allowed.get(s);
+ if (s == 10) continue;
+ System.out.println(" state " + s + ": allow " + c);
+ }
+
+ soln = new double[n];
+ for (int s = 0; s < n; s++) {
+ System.out.println(v.get(s).get(GRB.StringAttr.VarName) + " = "+v.get(s).get(GRB.DoubleAttr.X));
+ soln[s] = v.get(s).get(GRB.DoubleAttr.X);
+ }
+
+ if (min==true){
+ mainLog.println("Multi Strategy to Obtain at most " + bound);
+ } else {
+ mainLog.println("Multi Strategy to Obtain at least " + bound);
+ }
+
+ mainLog.println("Multi Strategy to Obtain " + bound);
+ for (int s = 0; s < n; s++) {
+ mainLog.print(s + ":");
+ int numChoices = mdp.getNumChoices(s);
+ for (int i = 0; i < numChoices; i++) {
+ String sc = s +"-"+i;
+ if (eta.get(sc).get(GRB.DoubleAttr.X) > 0) {
+ mainLog.print(" " + mdp.getAction(s, i));
+ }
+ }
+ mainLog.println();
+ }
+ // Clean up
+ m.dispose();
+ env.dispose();
+ } catch (GRBException e) {
+ throw new PrismException("Error solving LP: " +e.getMessage());
+ }
+
+ //soln[0] = 0;
+
+ // Return results
+ ModelCheckerResult res = new ModelCheckerResult();
+// res.accuracy = AccuracyFactory.boundedNumericalIterations();
+
+ res.soln = soln;
+ //res.strat = new MDPMultiStrat<>(mdp, choices);
+// res.timeTaken = timer / 1000.0;
+ return res;
+ }
+
/**
* Restrict a (memoryless) strategy for an MDP, stored as an integer array of choice indices,
* to the states of the MDP that are reachable under that strategy.
diff --git a/prism/src/explicit/ProbModelChecker.java b/prism/src/explicit/ProbModelChecker.java
index 5439a43b02..a8514e12bc 100644
--- a/prism/src/explicit/ProbModelChecker.java
+++ b/prism/src/explicit/ProbModelChecker.java
@@ -52,6 +52,7 @@
import prism.AccuracyFactory;
import prism.Evaluator;
import prism.IntegerBound;
+import prism.ModelType;
import prism.OpRelOpBound;
import prism.Prism;
import prism.PrismComponent;
@@ -564,8 +565,8 @@ else if (expr instanceof ExpressionSS) {
protected StateValues checkExpressionStrategy(Model model, ExpressionStrategy expr, BitSet statesOfInterest) throws PrismException
{
// Only support <<>>/[[]] for MDPs right now
- if (!(this instanceof MDPModelChecker))
- throw new PrismNotSupportedException("The " + expr.getOperatorString() + " operator is only supported for MDPs currently");
+ //if (!(this instanceof MDPModelChecker))
+ // throw new PrismNotSupportedException("The " + expr.getOperatorString() + " operator is only supported for MDPs currently");
// Will we be quantifying universally or existentially over strategies/adversaries?
boolean forAll = !expr.isThereExists();
@@ -588,8 +589,12 @@ protected StateValues checkExpressionStrategy(Model model, ExpressionStrategy
}
Expression exprSub = exprs.get(0);
// Pass onto relevant method:
+ // Multi-strategy
+ if ("multi".equals(expr.getModifier())) {
+ return checkExpressionMultiStrategy(model, expr, forAll, coalition, statesOfInterest);
+ }
// P operator
- if (exprSub instanceof ExpressionProb) {
+ else if (exprSub instanceof ExpressionProb) {
return checkExpressionProb(model, (ExpressionProb) exprSub, forAll, coalition, statesOfInterest);
}
// R operator
@@ -602,6 +607,61 @@ else if (exprSub instanceof ExpressionReward) {
}
}
+ /**
+ * Model check a <<>> operator requesting a multi-strategy
+ * @param statesOfInterest the states of interest, see checkExpression()
+ */
+ protected StateValues checkExpressionMultiStrategy(Model model, ExpressionStrategy expr, boolean forAll, Coalition coalition, BitSet statesOfInterest) throws PrismException
+ {
+ // Only support "exists" (<<>>) currently
+ if (forAll) {
+ throw new PrismException("Multi-strategies not supported for " + expr.getOperatorString());
+ }
+ // Only support R[C] currently
+ Expression exprSub = expr.getOperands().get(0);
+ if (!(exprSub instanceof ExpressionReward)) {
+ throw new PrismException("Multi-strategy synthesis only supports R[C] properties currently");
+ }
+ ExpressionReward exprRew = (ExpressionReward) exprSub;
+ if (!(exprRew.getExpression() instanceof ExpressionTemporal)) {
+ throw new PrismException("Multi-strategy synthesis only supports R[C] properties currently");
+ }
+ ExpressionTemporal exprTemp = (ExpressionTemporal) exprRew.getExpression();
+ if (!(exprTemp.getOperator() == ExpressionTemporal.R_C) && !exprTemp.hasBounds()) {
+ throw new PrismException("Multi-strategy synthesis only supports R[C] properties currently");
+ }
+
+ // Get info from R operator
+ OpRelOpBound opInfo = exprRew.getRelopBoundInfo(constantValues);
+ MinMax minMax = opInfo.getMinMax(model.getModelType(), false);
+
+ // Build rewards
+ int r = exprRew.getRewardStructIndexByIndexObject(rewardGen, constantValues);
+ mainLog.println("Building reward structure...");
+ Rewards modelRewards = constructRewards(model, r);
+
+ // Only support MDPs
+ ModelCheckerResult res = null;
+ switch (model.getModelType()) {
+ case MDP:
+ res = ((MDPModelChecker) this).computeMultiStrategy((MDP) model, (MDPRewards) modelRewards, opInfo.getBound());
+ break;
+ case IMDP:
+ res = ((IMDPModelChecker) this).computeMultiStrategy((IMDP) model, (MDPRewards) modelRewards, opInfo.getBound());
+ break;
+ default:
+ throw new PrismNotSupportedException("Cannot model check " + expr + " for " + model.getModelType() + "s");
+ }
+ if (model.getModelType() != ModelType.MDP && model.getModelType() != ModelType.IMDP ) {
+ throw new PrismNotSupportedException("Multi-strategy synthesis not supported for " + model.getModelType() + "s");
+ }
+
+ //ModelCheckerResult res = ((MDPModelChecker) this).computeMultiStrategy((MDP) model, (MDPRewards) modelRewards, opInfo.getBound());
+
+ result.setStrategy(res.strat);
+ return StateValues.createFromDoubleArrayResult(res, model);
+ }
+
/**
* Model check a P operator expression and return the values for the statesOfInterest.
* @param statesOfInterest the states of interest, see checkExpression()
diff --git a/prism/src/explicit/trigger.java b/prism/src/explicit/trigger.java
new file mode 100644
index 0000000000..6e8d0272ca
--- /dev/null
+++ b/prism/src/explicit/trigger.java
@@ -0,0 +1,60 @@
+package explicit;
+
+import com.gurobi.gurobi.GRB;
+import com.gurobi.gurobi.GRBEnv;
+import com.gurobi.gurobi.GRBException;
+import com.gurobi.gurobi.GRBLinExpr;
+import com.gurobi.gurobi.GRBQuadExpr;
+import com.gurobi.gurobi.GRBModel;
+import com.gurobi.gurobi.GRBVar;
+import com.gurobi.gurobi.GRBConstr;
+import lpsolve.LpSolve;
+import lpsolve.LpSolveException;
+import com.gurobi.gurobi.GRBCallback;
+
+
+public class trigger extends GRBCallback {
+ private double lastImproveTime;
+ private double timeout;
+ private GRBModel model;
+ private double bestObj = Double.POSITIVE_INFINITY;
+
+ public trigger(GRBModel model, double timeoutSeconds) {
+ this.model = model;
+ this.timeout = timeoutSeconds;
+ // initialize lastImproveTime to zero so first incumbent counts as improvement
+ this.lastImproveTime = 0.0;
+ }
+
+ @Override
+ protected void callback() {
+ try {
+ // 1) Whenever a new integer solution is found, record it:
+ if (where == GRB.CB_MIPSOL) {
+ double runtime = getDoubleInfo(GRB.Callback.RUNTIME);
+ double obj = getDoubleInfo(GRB.Callback.MIPSOL_OBJ);
+ // For minimization, lower is better
+ if (obj < bestObj) {
+ bestObj = obj;
+ lastImproveTime = runtime;
+ System.out.println("New incumbent: " + obj + " at t=" + runtime);
+ }
+ }
+
+ // 2) At nodes / periodically, check for stall
+ if (where == GRB.CB_MIPNODE || where == GRB.CB_MIP) {
+ double runtime = getDoubleInfo(GRB.Callback.RUNTIME);
+ // if we've seen at least one solution, and it's been > timeout s
+ if (lastImproveTime > 0 && runtime - lastImproveTime > timeout) {
+ System.out.printf(
+ "No improvement for %.1f seconds (last at %.1f)—aborting%n",
+ timeout, lastImproveTime
+ );
+ abort(); // stop the solve and keep the current incumbent
+ }
+ }
+ } catch (GRBException e) {
+ throw new RuntimeException(e);
+ }
+ }
+}
\ No newline at end of file
diff --git a/prism/src/parser/PrismParser.java b/prism/src/parser/PrismParser.java
index 85735651b8..8aa8be380b 100644
--- a/prism/src/parser/PrismParser.java
+++ b/prism/src/parser/PrismParser.java
@@ -3704,6 +3704,7 @@ static class ExpressionPair { public Expression expr1 = null; public Expression
// (Property) expression: ATL strategy operators <<>> and [[]]
static final public
Expression ExpressionStrategy(boolean prop, boolean pathprop) throws ParseException {ExpressionStrategy ret;
+ ExpressionIdent modifier = null;
Expression expr;
Token begin = null;
if (!prop) {if (true) throw generateParseException();}
@@ -3728,6 +3729,17 @@ static class ExpressionPair { public Expression expr1 = null; public Expression
throw new ParseException();
}
switch ((jj_ntk==-1)?jj_ntk_f():jj_ntk) {
+ case LBRACE:{
+ jj_consume_token(LBRACE);
+ modifier = IdentifierExpression();
+ jj_consume_token(RBRACE);
+ break;
+ }
+ default:
+ jj_la1[95] = jj_gen;
+ ;
+ }
+ switch ((jj_ntk==-1)?jj_ntk_f():jj_ntk) {
case PMAXMAX:
case PMAXMIN:
case PMAX:
@@ -3764,7 +3776,7 @@ static class ExpressionPair { public Expression expr1 = null; public Expression
break;
}
default:
- jj_la1[95] = jj_gen;
+ jj_la1[96] = jj_gen;
jj_consume_token(-1);
throw new ParseException();
}
@@ -3777,11 +3789,12 @@ static class ExpressionPair { public Expression expr1 = null; public Expression
break;
}
default:
- jj_la1[96] = jj_gen;
+ jj_la1[97] = jj_gen;
jj_consume_token(-1);
throw new ParseException();
}
-ret.setPosition(begin, getToken(0));
+ret.setModifier(modifier == null ? null : modifier.getName());
+ ret.setPosition(begin, getToken(0));
{if ("" != null) return ret;}
throw new Error("Missing return statement in function");
}
@@ -3797,7 +3810,7 @@ static class ExpressionPair { public Expression expr1 = null; public Expression
break;
}
default:
- jj_la1[99] = jj_gen;
+ jj_la1[100] = jj_gen;
switch ((jj_ntk==-1)?jj_ntk_f():jj_ntk) {
case REG_INT:
case REG_IDENT:{
@@ -3811,7 +3824,7 @@ static class ExpressionPair { public Expression expr1 = null; public Expression
break;
}
default:
- jj_la1[97] = jj_gen;
+ jj_la1[98] = jj_gen;
break label_28;
}
jj_consume_token(COMMA);
@@ -3821,7 +3834,7 @@ static class ExpressionPair { public Expression expr1 = null; public Expression
break;
}
default:
- jj_la1[98] = jj_gen;
+ jj_la1[99] = jj_gen;
;
}
exprStrat.setCoalition(coalition);
@@ -3841,7 +3854,7 @@ static class ExpressionPair { public Expression expr1 = null; public Expression
break;
}
default:
- jj_la1[100] = jj_gen;
+ jj_la1[101] = jj_gen;
jj_consume_token(-1);
throw new ParseException();
}
@@ -3868,7 +3881,7 @@ static class ExpressionPair { public Expression expr1 = null; public Expression
break;
}
default:
- jj_la1[101] = jj_gen;
+ jj_la1[102] = jj_gen;
jj_consume_token(-1);
throw new ParseException();
}
@@ -3919,7 +3932,7 @@ static class ExpressionPair { public Expression expr1 = null; public Expression
break;
}
default:
- jj_la1[102] = jj_gen;
+ jj_la1[103] = jj_gen;
jj_consume_token(-1);
throw new ParseException();
}
@@ -3932,7 +3945,7 @@ static class ExpressionPair { public Expression expr1 = null; public Expression
break;
}
default:
- jj_la1[103] = jj_gen;
+ jj_la1[104] = jj_gen;
;
}
jj_consume_token(RPARENTH);
@@ -3981,7 +3994,7 @@ String Identifier() throws ParseException {
break;
}
default:
- jj_la1[104] = jj_gen;
+ jj_la1[105] = jj_gen;
jj_consume_token(-1);
throw new ParseException();
}
@@ -4018,7 +4031,7 @@ int EqNeq() throws ParseException {
break;
}
default:
- jj_la1[105] = jj_gen;
+ jj_la1[106] = jj_gen;
jj_consume_token(-1);
throw new ParseException();
}
@@ -4050,7 +4063,7 @@ int LtGt() throws ParseException {
break;
}
default:
- jj_la1[106] = jj_gen;
+ jj_la1[107] = jj_gen;
jj_consume_token(-1);
throw new ParseException();
}
@@ -4076,7 +4089,7 @@ int LtGt() throws ParseException {
break;
}
default:
- jj_la1[107] = jj_gen;
+ jj_la1[108] = jj_gen;
;
}
jj_consume_token(0);
@@ -4233,22 +4246,6 @@ static private boolean jj_2_18(int xla)
finally { jj_save(17, xla); }
}
- static private boolean jj_3R_ExpressionStrategy_1905_9_153()
- {
- Token xsp;
- xsp = jj_scanpos;
- if (jj_3R_ExpressionStrategy_1908_10_184()) {
- jj_scanpos = xsp;
- if (jj_3R_ExpressionStrategy_1909_11_185()) return true;
- }
- xsp = jj_scanpos;
- if (jj_3R_ExpressionStrategy_1912_9_186()) {
- jj_scanpos = xsp;
- if (jj_3R_ExpressionStrategy_1914_11_187()) return true;
- }
- return false;
- }
-
static private boolean jj_3R_ExpressionFuncMinMax_1518_11_161()
{
if (jj_scan_token(MIN)) return true;
@@ -4272,9 +4269,9 @@ static private boolean jj_3R_ExpressionFuncMinMax_1518_9_146()
static private boolean jj_3R_SystemHideRename_1131_11_81()
{
if (jj_scan_token(LBRACE)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
if (jj_scan_token(RENAME)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
Token xsp;
while (true) {
xsp = jj_scanpos;
@@ -4299,7 +4296,7 @@ static private boolean jj_3_4()
return false;
}
- static private boolean jj_3R_RewardIndex_1815_87_242()
+ static private boolean jj_3R_RewardIndex_1815_87_243()
{
if (jj_3R_Expression_1177_9_38()) return true;
return false;
@@ -4316,7 +4313,7 @@ static private boolean jj_3R_SystemHideRename_1125_9_80()
{
if (jj_scan_token(DIVIDE)) return true;
if (jj_scan_token(LBRACE)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
Token xsp;
while (true) {
xsp = jj_scanpos;
@@ -4365,7 +4362,7 @@ static private boolean jj_3_8()
static private boolean jj_3R_ExpressionFuncOrIdent_1503_9_145()
{
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
Token xsp;
xsp = jj_scanpos;
if (jj_3R_ExpressionFuncOrIdent_1505_11_160()) jj_scanpos = xsp;
@@ -4398,19 +4395,19 @@ static private boolean jj_3_10()
static private boolean jj_3R_ExpressionBasic_1481_17_143()
{
- if (jj_3R_ExpressionFilter_1977_9_155()) return true;
+ if (jj_3R_ExpressionFilter_1981_9_155()) return true;
return false;
}
static private boolean jj_3R_ExpressionBasic_1479_17_142()
{
- if (jj_3R_ExpressionLabel_1959_9_154()) return true;
+ if (jj_3R_ExpressionLabel_1963_9_154()) return true;
return false;
}
static private boolean jj_3R_ExpressionBasic_1477_17_141()
{
- if (jj_3R_ExpressionStrategy_1905_9_153()) return true;
+ if (jj_3R_ExpressionStrategy_1906_9_153()) return true;
return false;
}
@@ -4433,7 +4430,7 @@ static private boolean jj_3R_SystemParallel_1096_11_59()
{
if (jj_scan_token(OR)) return true;
if (jj_scan_token(LBRACKET)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
Token xsp;
while (true) {
xsp = jj_scanpos;
@@ -4491,7 +4488,7 @@ static private boolean jj_3R_ExpressionBasic_1464_17_135()
return false;
}
- static private boolean jj_3R_ExpressionRewardContents_1852_11_222()
+ static private boolean jj_3R_ExpressionRewardContents_1852_11_223()
{
if (jj_3R_Expression_1177_9_38()) return true;
return false;
@@ -4509,7 +4506,7 @@ static private boolean jj_3_17()
return false;
}
- static private boolean jj_3R_ExpressionRewardContents_1849_11_221()
+ static private boolean jj_3R_ExpressionRewardContents_1849_11_222()
{
if (jj_scan_token(I)) return true;
if (jj_scan_token(EQ)) return true;
@@ -4529,13 +4526,13 @@ static private boolean jj_3_16()
return false;
}
- static private boolean jj_3R_ExpressionRewardContents_1848_11_220()
+ static private boolean jj_3R_ExpressionRewardContents_1848_11_221()
{
if (jj_scan_token(C)) return true;
return false;
}
- static private boolean jj_3R_ExpressionRewardContents_1847_11_219()
+ static private boolean jj_3R_ExpressionRewardContents_1847_11_220()
{
if (jj_scan_token(C)) return true;
if (jj_scan_token(LE)) return true;
@@ -4561,7 +4558,7 @@ static private boolean jj_3R_ExpressionBasic_1456_17_131()
return false;
}
- static private boolean jj_3R_ExpressionRewardContents_1844_11_218()
+ static private boolean jj_3R_ExpressionRewardContents_1844_11_219()
{
if (jj_scan_token(S)) return true;
return false;
@@ -4573,16 +4570,16 @@ static private boolean jj_3R_ExpressionReward_1786_69_183()
return false;
}
- static private boolean jj_3R_ExpressionRewardContents_1843_9_217()
+ static private boolean jj_3R_ExpressionRewardContents_1843_9_218()
{
if (jj_3R_ExpressionSS_1714_9_33()) return true;
return false;
}
- static private boolean jj_3R_RewardIndex_1817_33_245()
+ static private boolean jj_3R_RewardIndex_1817_33_246()
{
if (jj_scan_token(DQUOTE)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
if (jj_scan_token(DQUOTE)) return true;
return false;
}
@@ -4591,17 +4588,17 @@ static private boolean jj_3R_ExpressionRewardContents_1840_9_182()
{
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionRewardContents_1843_9_217()) {
+ if (jj_3R_ExpressionRewardContents_1843_9_218()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionRewardContents_1844_11_218()) {
+ if (jj_3R_ExpressionRewardContents_1844_11_219()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionRewardContents_1847_11_219()) {
+ if (jj_3R_ExpressionRewardContents_1847_11_220()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionRewardContents_1848_11_220()) {
+ if (jj_3R_ExpressionRewardContents_1848_11_221()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionRewardContents_1849_11_221()) {
+ if (jj_3R_ExpressionRewardContents_1849_11_222()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionRewardContents_1852_11_222()) return true;
+ if (jj_3R_ExpressionRewardContents_1852_11_223()) return true;
}
}
}
@@ -4684,10 +4681,10 @@ static private boolean jj_3R_ExpressionUnaryMinus_1440_17_128()
return false;
}
- static private boolean jj_3R_RewardIndex_1815_22_241()
+ static private boolean jj_3R_RewardIndex_1815_22_242()
{
if (jj_scan_token(DQUOTE)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
if (jj_scan_token(DQUOTE)) return true;
return false;
}
@@ -4701,7 +4698,7 @@ static private boolean jj_3R_ExpressionPlusMinus_1392_62_123()
static private boolean jj_3_2()
{
if (jj_scan_token(DQUOTE)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
if (jj_scan_token(DQUOTE)) return true;
if (jj_scan_token(COLON)) return true;
return false;
@@ -4718,15 +4715,15 @@ static private boolean jj_3R_ExpressionUnaryMinus_1439_9_124()
return false;
}
- static private boolean jj_3R_RewardIndex_1817_11_243()
+ static private boolean jj_3R_RewardIndex_1817_11_244()
{
if (jj_scan_token(DIVIDE)) return true;
if (jj_scan_token(LBRACE)) return true;
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_RewardIndex_1817_33_245()) {
+ if (jj_3R_RewardIndex_1817_33_246()) {
jj_scanpos = xsp;
- if (jj_3R_RewardIndex_1817_101_246()) return true;
+ if (jj_3R_RewardIndex_1817_101_247()) return true;
}
if (jj_scan_token(RBRACE)) return true;
return false;
@@ -4739,18 +4736,18 @@ static private boolean jj_3R_ExpressionPower_1426_17_125()
return false;
}
- static private boolean jj_3R_RewardIndex_1815_9_232()
+ static private boolean jj_3R_RewardIndex_1815_9_233()
{
if (jj_scan_token(LBRACE)) return true;
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_RewardIndex_1815_22_241()) {
+ if (jj_3R_RewardIndex_1815_22_242()) {
jj_scanpos = xsp;
- if (jj_3R_RewardIndex_1815_87_242()) return true;
+ if (jj_3R_RewardIndex_1815_87_243()) return true;
}
if (jj_scan_token(RBRACE)) return true;
xsp = jj_scanpos;
- if (jj_3R_RewardIndex_1817_11_243()) jj_scanpos = xsp;
+ if (jj_3R_RewardIndex_1817_11_244()) jj_scanpos = xsp;
return false;
}
@@ -4801,7 +4798,7 @@ static private boolean jj_3R_ExpressionTimesDivide_1409_17_121()
static private boolean jj_3_7()
{
if (jj_scan_token(DQUOTE)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
if (jj_scan_token(DQUOTE)) return true;
if (jj_3R_SystemDefn_1034_9_31()) return true;
return false;
@@ -4818,7 +4815,7 @@ static private boolean jj_3R_ExpressionTimesDivide_1407_9_116()
return false;
}
- static private boolean jj_3R_ExpressionReward_1771_26_238()
+ static private boolean jj_3R_ExpressionReward_1771_26_239()
{
if (jj_scan_token(MAX)) return true;
if (jj_scan_token(EQ)) return true;
@@ -4826,7 +4823,7 @@ static private boolean jj_3R_ExpressionReward_1771_26_238()
return false;
}
- static private boolean jj_3R_ExpressionReward_1770_26_237()
+ static private boolean jj_3R_ExpressionReward_1770_26_238()
{
if (jj_scan_token(MIN)) return true;
if (jj_scan_token(EQ)) return true;
@@ -4834,7 +4831,7 @@ static private boolean jj_3R_ExpressionReward_1770_26_237()
return false;
}
- static private boolean jj_3R_ExpressionReward_1769_26_236()
+ static private boolean jj_3R_ExpressionReward_1769_26_237()
{
if (jj_scan_token(EQ)) return true;
if (jj_scan_token(QMARK)) return true;
@@ -4855,7 +4852,7 @@ static private boolean jj_3R_ExpressionPlusMinus_1392_19_122()
return false;
}
- static private boolean jj_3R_ExpressionReward_1767_26_235()
+ static private boolean jj_3R_ExpressionReward_1767_26_236()
{
if (jj_scan_token(MAX)) return true;
if (jj_scan_token(EQ)) return true;
@@ -4863,7 +4860,7 @@ static private boolean jj_3R_ExpressionReward_1767_26_235()
return false;
}
- static private boolean jj_3R_ExpressionReward_1776_17_216()
+ static private boolean jj_3R_ExpressionReward_1776_17_217()
{
if (jj_scan_token(MAXMAX)) return true;
if (jj_scan_token(EQ)) return true;
@@ -4879,7 +4876,7 @@ static private boolean jj_3R_ExpressionReward_1783_10_180()
return false;
}
- static private boolean jj_3R_ExpressionReward_1766_26_234()
+ static private boolean jj_3R_ExpressionReward_1766_26_235()
{
if (jj_scan_token(MIN)) return true;
if (jj_scan_token(EQ)) return true;
@@ -4887,7 +4884,7 @@ static private boolean jj_3R_ExpressionReward_1766_26_234()
return false;
}
- static private boolean jj_3R_ExpressionReward_1775_17_215()
+ static private boolean jj_3R_ExpressionReward_1775_17_216()
{
if (jj_scan_token(MAXMIN)) return true;
if (jj_scan_token(EQ)) return true;
@@ -4915,14 +4912,14 @@ static private boolean jj_3R_ExpressionPlusMinus_1392_17_117()
return false;
}
- static private boolean jj_3R_ExpressionReward_1765_26_233()
+ static private boolean jj_3R_ExpressionReward_1765_26_234()
{
if (jj_scan_token(EQ)) return true;
if (jj_scan_token(QMARK)) return true;
return false;
}
- static private boolean jj_3R_ExpressionReward_1774_17_214()
+ static private boolean jj_3R_ExpressionReward_1774_17_215()
{
if (jj_scan_token(MINMAX)) return true;
if (jj_scan_token(EQ)) return true;
@@ -4938,7 +4935,7 @@ static private boolean jj_3R_ExpressionReward_1781_10_178()
return false;
}
- static private boolean jj_3R_ExpressionReward_1773_17_213()
+ static private boolean jj_3R_ExpressionReward_1773_17_214()
{
if (jj_scan_token(MINMIN)) return true;
if (jj_scan_token(EQ)) return true;
@@ -4962,31 +4959,31 @@ static private boolean jj_3R_ExpressionReward_1779_10_176()
return false;
}
- static private boolean jj_3R_ExpressionReward_1769_17_212()
+ static private boolean jj_3R_ExpressionReward_1769_17_213()
{
if (jj_scan_token(MAX)) return true;
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionReward_1769_26_236()) {
+ if (jj_3R_ExpressionReward_1769_26_237()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionReward_1770_26_237()) {
+ if (jj_3R_ExpressionReward_1770_26_238()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionReward_1771_26_238()) return true;
+ if (jj_3R_ExpressionReward_1771_26_239()) return true;
}
}
return false;
}
- static private boolean jj_3R_ExpressionReward_1765_17_211()
+ static private boolean jj_3R_ExpressionReward_1765_17_212()
{
if (jj_scan_token(MIN)) return true;
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionReward_1765_26_233()) {
+ if (jj_3R_ExpressionReward_1765_26_234()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionReward_1766_26_234()) {
+ if (jj_3R_ExpressionReward_1766_26_235()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionReward_1767_26_235()) return true;
+ if (jj_3R_ExpressionReward_1767_26_236()) return true;
}
}
return false;
@@ -5003,30 +5000,30 @@ static private boolean jj_3R_ExpressionPlusMinus_1390_9_113()
return false;
}
- static private boolean jj_3R_ExpressionReward_1764_17_210()
+ static private boolean jj_3R_ExpressionReward_1764_17_211()
{
if (jj_scan_token(EQ)) return true;
if (jj_scan_token(QMARK)) return true;
return false;
}
- static private boolean jj_3R_ExpressionReward_1763_18_209()
+ static private boolean jj_3R_ExpressionReward_1763_18_210()
{
- if (jj_3R_LtGt_2065_9_45()) return true;
+ if (jj_3R_LtGt_2069_9_45()) return true;
if (jj_3R_Expression_1177_9_38()) return true;
return false;
}
- static private boolean jj_3R_ExpressionReward_1762_18_208()
+ static private boolean jj_3R_ExpressionReward_1762_18_209()
{
- if (jj_3R_RewardIndex_1815_9_232()) return true;
+ if (jj_3R_RewardIndex_1815_9_233()) return true;
return false;
}
- static private boolean jj_3R_ExpressionReward_1761_19_207()
+ static private boolean jj_3R_ExpressionReward_1761_19_208()
{
if (jj_scan_token(LPARENTH)) return true;
- if (jj_3R_IdentifierExpression_2015_9_32()) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
if (jj_scan_token(RPARENTH)) return true;
return false;
}
@@ -5042,25 +5039,25 @@ static private boolean jj_3R_ExpressionReward_1760_10_175()
if (jj_scan_token(R)) return true;
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionReward_1761_19_207()) jj_scanpos = xsp;
+ if (jj_3R_ExpressionReward_1761_19_208()) jj_scanpos = xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionReward_1762_18_208()) jj_scanpos = xsp;
+ if (jj_3R_ExpressionReward_1762_18_209()) jj_scanpos = xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionReward_1763_18_209()) {
+ if (jj_3R_ExpressionReward_1763_18_210()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionReward_1764_17_210()) {
+ if (jj_3R_ExpressionReward_1764_17_211()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionReward_1765_17_211()) {
+ if (jj_3R_ExpressionReward_1765_17_212()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionReward_1769_17_212()) {
+ if (jj_3R_ExpressionReward_1769_17_213()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionReward_1773_17_213()) {
+ if (jj_3R_ExpressionReward_1773_17_214()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionReward_1774_17_214()) {
+ if (jj_3R_ExpressionReward_1774_17_215()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionReward_1775_17_215()) {
+ if (jj_3R_ExpressionReward_1775_17_216()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionReward_1776_17_216()) return true;
+ if (jj_3R_ExpressionReward_1776_17_217()) return true;
}
}
}
@@ -5104,7 +5101,7 @@ static private boolean jj_3R_ExpressionReward_1758_9_150()
static private boolean jj_3R_ExpressionRelop_1370_11_114()
{
- if (jj_3R_LtGt_2065_9_45()) return true;
+ if (jj_3R_LtGt_2069_9_45()) return true;
if (jj_3R_ExpressionPlusMinus_1390_9_113()) return true;
return false;
}
@@ -5122,7 +5119,7 @@ static private boolean jj_3R_ExpressionRelop_1369_9_111()
static private boolean jj_3R_ExpressionEquality_1356_11_112()
{
- if (jj_3R_EqNeq_2055_9_115()) return true;
+ if (jj_3R_EqNeq_2059_9_115()) return true;
if (jj_3R_ExpressionRelop_1369_9_111()) return true;
return false;
}
@@ -5141,7 +5138,7 @@ static private boolean jj_3R_ExpressionEquality_1355_9_110()
static private boolean jj_3_1()
{
if (jj_scan_token(MODULE)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
if (jj_scan_token(EQ)) return true;
return false;
}
@@ -5193,7 +5190,7 @@ static private boolean jj_3R_ExpressionSS_1719_17_37()
static private boolean jj_3R_ExpressionSS_1717_19_44()
{
if (jj_scan_token(LPARENTH)) return true;
- if (jj_3R_IdentifierExpression_2015_9_32()) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
if (jj_scan_token(RPARENTH)) return true;
return false;
}
@@ -5209,7 +5206,7 @@ static private boolean jj_3R_ExpressionSS_1717_17_36()
Token xsp;
xsp = jj_scanpos;
if (jj_3R_ExpressionSS_1717_19_44()) jj_scanpos = xsp;
- if (jj_3R_LtGt_2065_9_45()) return true;
+ if (jj_3R_LtGt_2069_9_45()) return true;
if (jj_3R_Expression_1177_9_38()) return true;
return false;
}
@@ -5329,105 +5326,105 @@ static private boolean jj_3R_Filter_1690_9_47()
return false;
}
- static private boolean jj_3R_ExpressionIff_1300_11_103()
- {
- if (jj_scan_token(IFF)) return true;
- if (jj_3R_ExpressionOr_1312_9_102()) return true;
- return false;
- }
-
- static private boolean jj_3R_LtGt_2068_9_54()
+ static private boolean jj_3R_LtGt_2072_9_54()
{
if (jj_scan_token(LE)) return true;
return false;
}
- static private boolean jj_3R_LtGt_2067_9_53()
+ static private boolean jj_3R_LtGt_2071_9_53()
{
if (jj_scan_token(GE)) return true;
return false;
}
- static private boolean jj_3R_LtGt_2066_9_52()
+ static private boolean jj_3R_LtGt_2070_9_52()
{
if (jj_scan_token(LT)) return true;
return false;
}
- static private boolean jj_3R_ExpressionIff_1299_9_92()
- {
- if (jj_3R_ExpressionOr_1312_9_102()) return true;
- Token xsp;
- while (true) {
- xsp = jj_scanpos;
- if (jj_3R_ExpressionIff_1300_11_103()) { jj_scanpos = xsp; break; }
- }
- return false;
- }
-
- static private boolean jj_3R_LtGt_2065_9_51()
+ static private boolean jj_3R_LtGt_2069_9_51()
{
if (jj_scan_token(GT)) return true;
return false;
}
- static private boolean jj_3R_LtGt_2065_9_45()
+ static private boolean jj_3R_LtGt_2069_9_45()
{
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_LtGt_2065_9_51()) {
+ if (jj_3R_LtGt_2069_9_51()) {
jj_scanpos = xsp;
- if (jj_3R_LtGt_2066_9_52()) {
+ if (jj_3R_LtGt_2070_9_52()) {
jj_scanpos = xsp;
- if (jj_3R_LtGt_2067_9_53()) {
+ if (jj_3R_LtGt_2071_9_53()) {
jj_scanpos = xsp;
- if (jj_3R_LtGt_2068_9_54()) return true;
+ if (jj_3R_LtGt_2072_9_54()) return true;
}
}
}
return false;
}
- static private boolean jj_3R_UpdateElement_910_9_40()
+ static private boolean jj_3R_ExpressionIff_1300_11_103()
{
- if (jj_scan_token(LPARENTH)) return true;
- if (jj_3R_IdentifierPrime_2037_9_48()) return true;
- if (jj_scan_token(EQ)) return true;
- if (jj_3R_Expression_1177_9_38()) return true;
- if (jj_scan_token(RPARENTH)) return true;
+ if (jj_scan_token(IFF)) return true;
+ if (jj_3R_ExpressionOr_1312_9_102()) return true;
+ return false;
+ }
+
+ static private boolean jj_3R_ExpressionIff_1299_9_92()
+ {
+ if (jj_3R_ExpressionOr_1312_9_102()) return true;
+ Token xsp;
+ while (true) {
+ xsp = jj_scanpos;
+ if (jj_3R_ExpressionIff_1300_11_103()) { jj_scanpos = xsp; break; }
+ }
return false;
}
- static private boolean jj_3R_EqNeq_2056_9_119()
+ static private boolean jj_3R_EqNeq_2060_9_119()
{
if (jj_scan_token(NE)) return true;
return false;
}
- static private boolean jj_3R_ExpressionImplies_1287_11_93()
+ static private boolean jj_3R_UpdateElement_910_9_40()
{
- if (jj_scan_token(IMPLIES)) return true;
- if (jj_3R_ExpressionImplies_1286_9_82()) return true;
+ if (jj_scan_token(LPARENTH)) return true;
+ if (jj_3R_IdentifierPrime_2041_9_48()) return true;
+ if (jj_scan_token(EQ)) return true;
+ if (jj_3R_Expression_1177_9_38()) return true;
+ if (jj_scan_token(RPARENTH)) return true;
return false;
}
- static private boolean jj_3R_EqNeq_2055_9_115()
+ static private boolean jj_3R_EqNeq_2059_9_115()
{
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_EqNeq_2055_9_118()) {
+ if (jj_3R_EqNeq_2059_9_118()) {
jj_scanpos = xsp;
- if (jj_3R_EqNeq_2056_9_119()) return true;
+ if (jj_3R_EqNeq_2060_9_119()) return true;
}
return false;
}
- static private boolean jj_3R_EqNeq_2055_9_118()
+ static private boolean jj_3R_EqNeq_2059_9_118()
{
if (jj_scan_token(EQ)) return true;
return false;
}
+ static private boolean jj_3R_ExpressionImplies_1287_11_93()
+ {
+ if (jj_scan_token(IMPLIES)) return true;
+ if (jj_3R_ExpressionImplies_1286_9_82()) return true;
+ return false;
+ }
+
static private boolean jj_3R_ExpressionImplies_1286_9_82()
{
if (jj_3R_ExpressionIff_1299_9_92()) return true;
@@ -5448,7 +5445,7 @@ static private boolean jj_3R_Update_897_10_34()
return false;
}
- static private boolean jj_3R_ExpressionProb_1646_26_231()
+ static private boolean jj_3R_ExpressionProb_1646_26_232()
{
if (jj_scan_token(MAX)) return true;
if (jj_scan_token(EQ)) return true;
@@ -5465,7 +5462,7 @@ static private boolean jj_3R_ExpressionITE_1272_17_83()
return false;
}
- static private boolean jj_3R_ExpressionProb_1645_26_230()
+ static private boolean jj_3R_ExpressionProb_1645_26_231()
{
if (jj_scan_token(MIN)) return true;
if (jj_scan_token(EQ)) return true;
@@ -5473,7 +5470,7 @@ static private boolean jj_3R_ExpressionProb_1645_26_230()
return false;
}
- static private boolean jj_3R_ExpressionProb_1644_26_229()
+ static private boolean jj_3R_ExpressionProb_1644_26_230()
{
if (jj_scan_token(EQ)) return true;
if (jj_scan_token(QMARK)) return true;
@@ -5501,12 +5498,12 @@ static private boolean jj_3R_ExpressionProb_1659_10_173()
static private boolean jj_3_14()
{
- if (jj_3R_IdentifierExpression_2015_9_32()) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
if (jj_scan_token(LPARENTH)) return true;
return false;
}
- static private boolean jj_3R_ExpressionProb_1642_26_228()
+ static private boolean jj_3R_ExpressionProb_1642_26_229()
{
if (jj_scan_token(MAX)) return true;
if (jj_scan_token(EQ)) return true;
@@ -5514,7 +5511,7 @@ static private boolean jj_3R_ExpressionProb_1642_26_228()
return false;
}
- static private boolean jj_3R_ExpressionProb_1651_17_206()
+ static private boolean jj_3R_ExpressionProb_1651_17_207()
{
if (jj_scan_token(MAXMAX)) return true;
if (jj_scan_token(EQ)) return true;
@@ -5532,12 +5529,12 @@ static private boolean jj_3R_ExpressionProb_1658_10_172()
static private boolean jj_3_13()
{
- if (jj_3R_IdentifierExpression_2015_9_32()) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
if (jj_scan_token(LPARENTH)) return true;
return false;
}
- static private boolean jj_3R_ExpressionProb_1641_26_227()
+ static private boolean jj_3R_ExpressionProb_1641_26_228()
{
if (jj_scan_token(MIN)) return true;
if (jj_scan_token(EQ)) return true;
@@ -5545,7 +5542,7 @@ static private boolean jj_3R_ExpressionProb_1641_26_227()
return false;
}
- static private boolean jj_3R_ExpressionProb_1650_17_205()
+ static private boolean jj_3R_ExpressionProb_1650_17_206()
{
if (jj_scan_token(MAXMIN)) return true;
if (jj_scan_token(EQ)) return true;
@@ -5563,19 +5560,25 @@ static private boolean jj_3R_ExpressionProb_1657_10_171()
static private boolean jj_3_12()
{
- if (jj_3R_IdentifierExpression_2015_9_32()) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
if (jj_scan_token(LPARENTH)) return true;
return false;
}
- static private boolean jj_3R_ExpressionProb_1640_26_226()
+ static private boolean jj_3R_IdentifierPrime_2041_9_48()
+ {
+ if (jj_scan_token(REG_IDENTPRIME)) return true;
+ return false;
+ }
+
+ static private boolean jj_3R_ExpressionProb_1640_26_227()
{
if (jj_scan_token(EQ)) return true;
if (jj_scan_token(QMARK)) return true;
return false;
}
- static private boolean jj_3R_ExpressionProb_1649_17_204()
+ static private boolean jj_3R_ExpressionProb_1649_17_205()
{
if (jj_scan_token(MINMAX)) return true;
if (jj_scan_token(EQ)) return true;
@@ -5593,12 +5596,12 @@ static private boolean jj_3R_ExpressionProb_1656_10_170()
static private boolean jj_3_11()
{
- if (jj_3R_IdentifierExpression_2015_9_32()) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
if (jj_scan_token(LPARENTH)) return true;
return false;
}
- static private boolean jj_3R_ExpressionProb_1648_17_203()
+ static private boolean jj_3R_ExpressionProb_1648_17_204()
{
if (jj_scan_token(MINMIN)) return true;
if (jj_scan_token(EQ)) return true;
@@ -5622,17 +5625,17 @@ static private boolean jj_3R_ExpressionProb_1654_10_168()
return false;
}
- static private boolean jj_3R_ExpressionProb_1638_25_199()
+ static private boolean jj_3R_ExpressionProb_1638_25_200()
{
- if (jj_3R_LtGt_2065_9_45()) return true;
+ if (jj_3R_LtGt_2069_9_45()) return true;
if (jj_3R_Expression_1177_9_38()) return true;
return false;
}
- static private boolean jj_3R_ExpressionProb_1637_26_198()
+ static private boolean jj_3R_ExpressionProb_1637_26_199()
{
if (jj_scan_token(LPARENTH)) return true;
- if (jj_3R_IdentifierExpression_2015_9_32()) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
if (jj_scan_token(RPARENTH)) return true;
return false;
}
@@ -5643,12 +5646,6 @@ static private boolean jj_3_5()
return false;
}
- static private boolean jj_3R_IdentifierPrime_2037_9_48()
- {
- if (jj_scan_token(REG_IDENTPRIME)) return true;
- return false;
- }
-
static private boolean jj_3R_ExpressionITE_1270_9_75()
{
if (jj_3R_ExpressionImplies_1286_9_82()) return true;
@@ -5658,43 +5655,49 @@ static private boolean jj_3R_ExpressionITE_1270_9_75()
return false;
}
- static private boolean jj_3R_ExpressionProb_1644_17_202()
+ static private boolean jj_3R_ExpressionProb_1644_17_203()
{
if (jj_scan_token(MAX)) return true;
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionProb_1644_26_229()) {
+ if (jj_3R_ExpressionProb_1644_26_230()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionProb_1645_26_230()) {
+ if (jj_3R_ExpressionProb_1645_26_231()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionProb_1646_26_231()) return true;
+ if (jj_3R_ExpressionProb_1646_26_232()) return true;
}
}
return false;
}
+ static private boolean jj_3R_ExpressionFilter_1987_56_195()
+ {
+ if (jj_scan_token(OR)) return true;
+ return false;
+ }
+
static private boolean jj_3R_TimeBound_1256_20_100()
{
- if (jj_3R_IdentifierExpression_2015_9_32()) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
return false;
}
static private boolean jj_3R_TimeBound_1255_20_98()
{
- if (jj_3R_IdentifierExpression_2015_9_32()) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
return false;
}
- static private boolean jj_3R_ExpressionProb_1640_17_201()
+ static private boolean jj_3R_ExpressionProb_1640_17_202()
{
if (jj_scan_token(MIN)) return true;
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionProb_1640_26_226()) {
+ if (jj_3R_ExpressionProb_1640_26_227()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionProb_1641_26_227()) {
+ if (jj_3R_ExpressionProb_1641_26_228()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionProb_1642_26_228()) return true;
+ if (jj_3R_ExpressionProb_1642_26_229()) return true;
}
}
return false;
@@ -5702,26 +5705,20 @@ static private boolean jj_3R_ExpressionProb_1640_17_201()
static private boolean jj_3R_TimeBound_1254_20_96()
{
- if (jj_3R_IdentifierExpression_2015_9_32()) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
return false;
}
- static private boolean jj_3R_ExpressionProb_1639_17_200()
+ static private boolean jj_3R_ExpressionProb_1639_17_201()
{
if (jj_scan_token(EQ)) return true;
if (jj_scan_token(QMARK)) return true;
return false;
}
- static private boolean jj_3R_ExpressionFilter_1983_56_194()
- {
- if (jj_scan_token(OR)) return true;
- return false;
- }
-
static private boolean jj_3R_TimeBound_1253_20_94()
{
- if (jj_3R_IdentifierExpression_2015_9_32()) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
return false;
}
@@ -5783,23 +5780,23 @@ static private boolean jj_3R_ExpressionProb_1637_10_167()
if (jj_scan_token(P)) return true;
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionProb_1637_26_198()) jj_scanpos = xsp;
+ if (jj_3R_ExpressionProb_1637_26_199()) jj_scanpos = xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionProb_1638_25_199()) {
+ if (jj_3R_ExpressionProb_1638_25_200()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionProb_1639_17_200()) {
+ if (jj_3R_ExpressionProb_1639_17_201()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionProb_1640_17_201()) {
+ if (jj_3R_ExpressionProb_1640_17_202()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionProb_1644_17_202()) {
+ if (jj_3R_ExpressionProb_1644_17_203()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionProb_1648_17_203()) {
+ if (jj_3R_ExpressionProb_1648_17_204()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionProb_1649_17_204()) {
+ if (jj_3R_ExpressionProb_1649_17_205()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionProb_1650_17_205()) {
+ if (jj_3R_ExpressionProb_1650_17_206()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionProb_1651_17_206()) return true;
+ if (jj_3R_ExpressionProb_1651_17_207()) return true;
}
}
}
@@ -5845,6 +5842,12 @@ static private boolean jj_3R_TimeBound_1253_9_76()
return false;
}
+ static private boolean jj_3R_IdentifierExpression_2019_9_32()
+ {
+ if (jj_3R_Identifier_2008_9_29()) return true;
+ return false;
+ }
+
static private boolean jj_3R_ExpressionProb_1635_9_149()
{
Token xsp;
@@ -5876,15 +5879,21 @@ static private boolean jj_3R_ExpressionProb_1635_9_149()
return false;
}
- static private boolean jj_3R_IdentifierExpression_2015_9_32()
+ static private boolean jj_3R_ExpressionTemporalUnary_1240_17_61()
{
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_ExpressionITE_1270_9_75()) return true;
return false;
}
- static private boolean jj_3R_ExpressionTemporalUnary_1240_17_61()
+ static private boolean jj_3R_ExpressionFilter_1987_34_194()
{
- if (jj_3R_ExpressionITE_1270_9_75()) return true;
+ if (jj_scan_token(AND)) return true;
+ return false;
+ }
+
+ static private boolean jj_3R_ExpressionFilter_1986_35_192()
+ {
+ if (jj_scan_token(MAX)) return true;
return false;
}
@@ -5912,15 +5921,9 @@ static private boolean jj_3R_ExpressionTemporalUnary_1233_19_71()
return false;
}
- static private boolean jj_3R_ExpressionFilter_1983_34_193()
+ static private boolean jj_3R_Identifier_2008_9_29()
{
- if (jj_scan_token(AND)) return true;
- return false;
- }
-
- static private boolean jj_3R_ExpressionFilter_1982_35_191()
- {
- if (jj_scan_token(MAX)) return true;
+ if (jj_scan_token(REG_IDENT)) return true;
return false;
}
@@ -5941,13 +5944,7 @@ static private boolean jj_3R_ExpressionTemporalUnary_1231_17_60()
return false;
}
- static private boolean jj_3R_Identifier_2004_9_29()
- {
- if (jj_scan_token(REG_IDENT)) return true;
- return false;
- }
-
- static private boolean jj_3R_ExpressionLabel_1961_47_189()
+ static private boolean jj_3R_ExpressionLabel_1965_47_190()
{
if (jj_scan_token(INIT)) return true;
return false;
@@ -5964,13 +5961,20 @@ static private boolean jj_3R_ExpressionTemporalUnary_1229_9_55()
return false;
}
+ static private boolean jj_3R_ExpressionFilter_1992_11_197()
+ {
+ if (jj_scan_token(COMMA)) return true;
+ if (jj_3R_Expression_1177_9_38()) return true;
+ return false;
+ }
+
static private boolean jj_3R_ExpressionTemporalBinary_1215_19_65()
{
if (jj_3R_TimeBound_1253_9_76()) return true;
return false;
}
- static private boolean jj_3R_ExpressionFuncArgs_1544_72_197()
+ static private boolean jj_3R_ExpressionFuncArgs_1544_72_198()
{
if (jj_scan_token(COMMA)) return true;
if (jj_3R_Expression_1177_9_38()) return true;
@@ -5979,8 +5983,7 @@ static private boolean jj_3R_ExpressionFuncArgs_1544_72_197()
static private boolean jj_3R_ExpressionFilter_1988_11_196()
{
- if (jj_scan_token(COMMA)) return true;
- if (jj_3R_Expression_1177_9_38()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
return false;
}
@@ -5990,39 +5993,39 @@ static private boolean jj_3R_ExpressionTemporalBinary_1214_19_64()
return false;
}
- static private boolean jj_3R_ExpressionFuncOldStyle_1532_83_166()
+ static private boolean jj_3R_ExpressionFilter_1987_11_193()
{
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_scan_token(PLUS)) return true;
return false;
}
- static private boolean jj_3R_ExpressionTemporalBinary_1213_19_63()
+ static private boolean jj_3R_ExpressionFuncOldStyle_1532_83_166()
{
- if (jj_scan_token(W)) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
return false;
}
- static private boolean jj_3R_ExpressionTemporalBinary_1212_19_62()
+ static private boolean jj_3R_ExpressionTemporalBinary_1213_19_63()
{
- if (jj_scan_token(U)) return true;
+ if (jj_scan_token(W)) return true;
return false;
}
- static private boolean jj_3R_ExpressionFilter_1984_11_195()
+ static private boolean jj_3R_ExpressionFilter_1986_11_191()
{
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_scan_token(MIN)) return true;
return false;
}
- static private boolean jj_3R_ExpressionFilter_1983_11_192()
+ static private boolean jj_3R_ExpressionTemporalBinary_1212_19_62()
{
- if (jj_scan_token(PLUS)) return true;
+ if (jj_scan_token(U)) return true;
return false;
}
- static private boolean jj_3R_ExpressionFilter_1982_11_190()
+ static private boolean jj_3R_ExpressionLabel_1965_30_189()
{
- if (jj_scan_token(MIN)) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
return false;
}
@@ -6043,29 +6046,23 @@ static private boolean jj_3R_ExpressionTemporalBinary_1210_17_56()
return false;
}
- static private boolean jj_3R_ExpressionLabel_1961_30_188()
- {
- if (jj_3R_Identifier_2004_9_29()) return true;
- return false;
- }
-
- static private boolean jj_3R_ExpressionFilter_1977_9_155()
+ static private boolean jj_3R_ExpressionFilter_1981_9_155()
{
if (jj_scan_token(FILTER)) return true;
if (jj_scan_token(LPARENTH)) return true;
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionFilter_1982_11_190()) {
+ if (jj_3R_ExpressionFilter_1986_11_191()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionFilter_1982_35_191()) {
+ if (jj_3R_ExpressionFilter_1986_35_192()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionFilter_1983_11_192()) {
+ if (jj_3R_ExpressionFilter_1987_11_193()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionFilter_1983_34_193()) {
+ if (jj_3R_ExpressionFilter_1987_34_194()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionFilter_1983_56_194()) {
+ if (jj_3R_ExpressionFilter_1987_56_195()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionFilter_1984_11_195()) return true;
+ if (jj_3R_ExpressionFilter_1988_11_196()) return true;
}
}
}
@@ -6074,7 +6071,7 @@ static private boolean jj_3R_ExpressionFilter_1977_9_155()
if (jj_scan_token(COMMA)) return true;
if (jj_3R_Expression_1177_9_38()) return true;
xsp = jj_scanpos;
- if (jj_3R_ExpressionFilter_1988_11_196()) jj_scanpos = xsp;
+ if (jj_3R_ExpressionFilter_1992_11_197()) jj_scanpos = xsp;
if (jj_scan_token(RPARENTH)) return true;
return false;
}
@@ -6105,7 +6102,7 @@ static private boolean jj_3R_ExpressionFuncOldStyle_1532_60_165()
static private boolean jj_3R_SystemHideRename_1127_81_90()
{
if (jj_scan_token(COMMA)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
return false;
}
@@ -6115,26 +6112,26 @@ static private boolean jj_3R_ExpressionLiteral_1581_9_159()
return false;
}
- static private boolean jj_3R_ExpressionLiteral_1579_9_158()
- {
- if (jj_scan_token(TRUE)) return true;
- return false;
- }
-
- static private boolean jj_3R_ExpressionLabel_1959_9_154()
+ static private boolean jj_3R_ExpressionLabel_1963_9_154()
{
if (jj_scan_token(DQUOTE)) return true;
Token xsp;
xsp = jj_scanpos;
- if (jj_3R_ExpressionLabel_1961_30_188()) {
+ if (jj_3R_ExpressionLabel_1965_30_189()) {
jj_scanpos = xsp;
- if (jj_3R_ExpressionLabel_1961_47_189()) return true;
+ if (jj_3R_ExpressionLabel_1965_47_190()) return true;
}
if (jj_scan_token(DQUOTE)) return true;
return false;
}
- static private boolean jj_3R_ExpressionStrategy_1912_51_225()
+ static private boolean jj_3R_ExpressionLiteral_1579_9_158()
+ {
+ if (jj_scan_token(TRUE)) return true;
+ return false;
+ }
+
+ static private boolean jj_3R_ExpressionStrategy_1915_51_226()
{
if (jj_3R_ExpressionReward_1758_9_150()) return true;
return false;
@@ -6146,7 +6143,7 @@ static private boolean jj_3R_ExpressionLiteral_1568_9_157()
return false;
}
- static private boolean jj_3R_ExpressionStrategyCoalitionPlayer_1945_9_247()
+ static private boolean jj_3R_ExpressionStrategyCoalitionPlayer_1949_9_248()
{
Token xsp;
xsp = jj_scanpos;
@@ -6169,12 +6166,38 @@ static private boolean jj_3R_Expression_1177_9_38()
return false;
}
+ static private boolean jj_3R_ExpressionStrategyCoalition_1938_11_249()
+ {
+ if (jj_scan_token(COMMA)) return true;
+ if (jj_3R_ExpressionStrategyCoalitionPlayer_1949_9_248()) return true;
+ return false;
+ }
+
+ static private boolean jj_3R_ExpressionStrategyCoalition_1937_11_245()
+ {
+ if (jj_3R_ExpressionStrategyCoalitionPlayer_1949_9_248()) return true;
+ Token xsp;
+ while (true) {
+ xsp = jj_scanpos;
+ if (jj_3R_ExpressionStrategyCoalition_1938_11_249()) { jj_scanpos = xsp; break; }
+ }
+ return false;
+ }
+
static private boolean jj_3R_ExpressionLiteral_1555_9_156()
{
if (jj_scan_token(REG_INT)) return true;
return false;
}
+ static private boolean jj_3R_ExpressionStrategyCoalition_1937_9_241()
+ {
+ Token xsp;
+ xsp = jj_scanpos;
+ if (jj_3R_ExpressionStrategyCoalition_1937_11_245()) jj_scanpos = xsp;
+ return false;
+ }
+
static private boolean jj_3R_ExpressionLiteral_1554_9_144()
{
Token xsp;
@@ -6192,20 +6215,19 @@ static private boolean jj_3R_ExpressionLiteral_1554_9_144()
return false;
}
- static private boolean jj_3R_ExpressionStrategyCoalition_1934_11_248()
+ static private boolean jj_3R_ExpressionStrategyCoalition_1935_9_240()
{
- if (jj_scan_token(COMMA)) return true;
- if (jj_3R_ExpressionStrategyCoalitionPlayer_1945_9_247()) return true;
+ if (jj_scan_token(TIMES)) return true;
return false;
}
- static private boolean jj_3R_ExpressionStrategyCoalition_1933_11_244()
+ static private boolean jj_3R_ExpressionStrategyCoalition_1935_9_224()
{
- if (jj_3R_ExpressionStrategyCoalitionPlayer_1945_9_247()) return true;
Token xsp;
- while (true) {
- xsp = jj_scanpos;
- if (jj_3R_ExpressionStrategyCoalition_1934_11_248()) { jj_scanpos = xsp; break; }
+ xsp = jj_scanpos;
+ if (jj_3R_ExpressionStrategyCoalition_1935_9_240()) {
+ jj_scanpos = xsp;
+ if (jj_3R_ExpressionStrategyCoalition_1937_9_241()) return true;
}
return false;
}
@@ -6216,38 +6238,13 @@ static private boolean jj_3R_ExpressionFuncMinMax_1518_42_162()
return false;
}
- static private boolean jj_3R_ExpressionStrategyCoalition_1933_9_240()
- {
- Token xsp;
- xsp = jj_scanpos;
- if (jj_3R_ExpressionStrategyCoalition_1933_11_244()) jj_scanpos = xsp;
- return false;
- }
-
- static private boolean jj_3R_ExpressionStrategyCoalition_1931_9_239()
- {
- if (jj_scan_token(TIMES)) return true;
- return false;
- }
-
- static private boolean jj_3R_ExpressionStrategyCoalition_1931_9_223()
- {
- Token xsp;
- xsp = jj_scanpos;
- if (jj_3R_ExpressionStrategyCoalition_1931_9_239()) {
- jj_scanpos = xsp;
- if (jj_3R_ExpressionStrategyCoalition_1933_9_240()) return true;
- }
- return false;
- }
-
static private boolean jj_3R_ExpressionFuncArgs_1544_9_163()
{
if (jj_3R_Expression_1177_9_38()) return true;
Token xsp;
while (true) {
xsp = jj_scanpos;
- if (jj_3R_ExpressionFuncArgs_1544_72_197()) { jj_scanpos = xsp; break; }
+ if (jj_3R_ExpressionFuncArgs_1544_72_198()) { jj_scanpos = xsp; break; }
}
return false;
}
@@ -6263,27 +6260,33 @@ static private boolean jj_3R_SystemAtomic_1157_10_79()
static private boolean jj_3R_SystemAtomic_1155_10_78()
{
if (jj_scan_token(DQUOTE)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
if (jj_scan_token(DQUOTE)) return true;
return false;
}
+ static private boolean jj_3R_ExpressionStrategy_1917_11_188()
+ {
+ if (jj_3R_ExpressionParenth_1594_9_148()) return true;
+ return false;
+ }
+
static private boolean jj_3R_SystemAtomic_1153_9_77()
{
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
return false;
}
static private boolean jj_3R_SystemParallel_1097_65_70()
{
if (jj_scan_token(COMMA)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
return false;
}
- static private boolean jj_3R_ExpressionStrategy_1914_11_187()
+ static private boolean jj_3R_ExpressionStrategy_1915_11_225()
{
- if (jj_3R_ExpressionParenth_1594_9_148()) return true;
+ if (jj_3R_ExpressionProb_1635_9_149()) return true;
return false;
}
@@ -6301,6 +6304,17 @@ static private boolean jj_3R_SystemAtomic_1150_9_68()
return false;
}
+ static private boolean jj_3R_ExpressionStrategy_1915_9_187()
+ {
+ Token xsp;
+ xsp = jj_scanpos;
+ if (jj_3R_ExpressionStrategy_1915_11_225()) {
+ jj_scanpos = xsp;
+ if (jj_3R_ExpressionStrategy_1915_51_226()) return true;
+ }
+ return false;
+ }
+
static private boolean jj_3R_ExpressionFuncOldStyle_1532_9_147()
{
if (jj_scan_token(FUNC)) return true;
@@ -6320,54 +6334,45 @@ static private boolean jj_3R_ExpressionFuncOldStyle_1532_9_147()
return false;
}
- static private boolean jj_3R_ExpressionStrategy_1912_11_224()
+ static private boolean jj_3R_ExpressionStrategy_1912_11_186()
{
- if (jj_3R_ExpressionProb_1635_9_149()) return true;
+ if (jj_scan_token(LBRACE)) return true;
+ if (jj_3R_IdentifierExpression_2019_9_32()) return true;
+ if (jj_scan_token(RBRACE)) return true;
return false;
}
- static private boolean jj_3R_ExpressionStrategy_1912_9_186()
+ static private boolean jj_3R_ExpressionStrategy_1910_11_185()
{
- Token xsp;
- xsp = jj_scanpos;
- if (jj_3R_ExpressionStrategy_1912_11_224()) {
- jj_scanpos = xsp;
- if (jj_3R_ExpressionStrategy_1912_51_225()) return true;
- }
+ if (jj_scan_token(DLBRACKET)) return true;
+ if (jj_3R_ExpressionStrategyCoalition_1935_9_224()) return true;
+ if (jj_scan_token(DRBRACKET)) return true;
return false;
}
- static private boolean jj_3R_ExpressionStrategy_1909_11_185()
+ static private boolean jj_3R_ExpressionStrategy_1909_10_184()
{
- if (jj_scan_token(DLBRACKET)) return true;
- if (jj_3R_ExpressionStrategyCoalition_1931_9_223()) return true;
- if (jj_scan_token(DRBRACKET)) return true;
+ if (jj_scan_token(DLT)) return true;
+ if (jj_3R_ExpressionStrategyCoalition_1935_9_224()) return true;
+ if (jj_scan_token(DGT)) return true;
return false;
}
static private boolean jj_3R_SystemHideRename_1134_19_91()
{
if (jj_scan_token(COMMA)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
if (jj_scan_token(RENAME)) return true;
- if (jj_3R_Identifier_2004_9_29()) return true;
+ if (jj_3R_Identifier_2008_9_29()) return true;
return false;
}
- static private boolean jj_3R_RewardIndex_1817_101_246()
+ static private boolean jj_3R_RewardIndex_1817_101_247()
{
if (jj_3R_Expression_1177_9_38()) return true;
return false;
}
- static private boolean jj_3R_ExpressionStrategy_1908_10_184()
- {
- if (jj_scan_token(DLT)) return true;
- if (jj_3R_ExpressionStrategyCoalition_1931_9_223()) return true;
- if (jj_scan_token(DGT)) return true;
- return false;
- }
-
static private boolean jj_3_9()
{
if (jj_scan_token(OR)) return true;
@@ -6376,6 +6381,24 @@ static private boolean jj_3_9()
return false;
}
+ static private boolean jj_3R_ExpressionStrategy_1906_9_153()
+ {
+ Token xsp;
+ xsp = jj_scanpos;
+ if (jj_3R_ExpressionStrategy_1909_10_184()) {
+ jj_scanpos = xsp;
+ if (jj_3R_ExpressionStrategy_1910_11_185()) return true;
+ }
+ xsp = jj_scanpos;
+ if (jj_3R_ExpressionStrategy_1912_11_186()) jj_scanpos = xsp;
+ xsp = jj_scanpos;
+ if (jj_3R_ExpressionStrategy_1915_9_187()) {
+ jj_scanpos = xsp;
+ if (jj_3R_ExpressionStrategy_1917_11_188()) return true;
+ }
+ return false;
+ }
+
static private boolean jj_initialized_once = false;
/** Generated Token Manager. */
static public PrismParserTokenManager token_source;
@@ -6388,7 +6411,7 @@ static private boolean jj_3_9()
static private Token jj_scanpos, jj_lastpos;
static private int jj_la;
static private int jj_gen;
- static final private int[] jj_la1 = new int[108];
+ static final private int[] jj_la1 = new int[109];
static private int[] jj_la1_0;
static private int[] jj_la1_1;
static private int[] jj_la1_2;
@@ -6400,16 +6423,16 @@ static private boolean jj_3_9()
jj_la1_init_3();
}
private static void jj_la1_init_0() {
- jj_la1_0 = new int[] {0x228804c0,0x208804c0,0x2000000,0x20340848,0x0,0x20340848,0x20340848,0x0,0x20340848,0x400,0x0,0x80,0x480,0x10000210,0x10000210,0x0,0x40,0x0,0x2000000,0x10000030,0x0,0x4000000,0x0,0x0,0x0,0x1740808,0x1740808,0x0,0x0,0x0,0x1740808,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1400000,0x0,0x1740808,0x1740808,0x1740808,0x1740808,0x1740808,0x0,0x0,0x0,0x0,0x0,0x0,0x340808,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x340808,0x340808,0x0,0x0,0x0,0x0,0x40000,0x0,0x0,0x0,0xc0000000,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0xc0000000,0x0,0x0,0x1740808,0x1740808,0x0,0x0,0x9740908,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x2000000,0x0,0x0,0x0,0x0,0x0,0x0,};
+ jj_la1_0 = new int[] {0x228804c0,0x208804c0,0x2000000,0x20340848,0x0,0x20340848,0x20340848,0x0,0x20340848,0x400,0x0,0x80,0x480,0x10000210,0x10000210,0x0,0x40,0x0,0x2000000,0x10000030,0x0,0x4000000,0x0,0x0,0x0,0x1740808,0x1740808,0x0,0x0,0x0,0x1740808,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1400000,0x0,0x1740808,0x1740808,0x1740808,0x1740808,0x1740808,0x0,0x0,0x0,0x0,0x0,0x0,0x340808,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x340808,0x340808,0x0,0x0,0x0,0x0,0x40000,0x0,0x0,0x0,0xc0000000,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0xc0000000,0x0,0x0,0x1740808,0x1740808,0x0,0x0,0x9740908,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x2000000,0x0,0x0,0x0,0x0,0x0,0x0,};
}
private static void jj_la1_init_1() {
- jj_la1_1 = new int[] {0xfe03a2,0x7e0082,0x800320,0xff51fc11,0x0,0xff51fc11,0xff51fc11,0x0,0xff51fc11,0x80000,0x82,0x0,0x2e0082,0x0,0x0,0x500000,0x500000,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0xff01fc51,0xff01fc51,0x0,0x0,0x0,0xff01fc51,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x40000000,0x0,0x40000000,0x40,0x0,0xff01fc51,0xff01fc51,0xff01fc51,0xff01fc51,0xff01fc51,0x0,0x0,0x0,0x0,0x0,0x0,0xff01fc11,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0xff01fc11,0xff01fc11,0x0,0x11,0x11,0x0,0x0,0x0,0x11,0x11,0x1d,0x1fc00,0x0,0x0,0x11,0x0,0x0,0x0,0x0,0x0,0x11,0x11,0x1d,0x7f000000,0x0,0xff01fc51,0xff01fc51,0x0,0x80000000,0xff01fc51,0x0,0x7f01fc00,0x7f01fc00,0x0,0x0,0x0,0x0,0x0,0x11,0x0,0x11,0x0,0x0,0x0,};
+ jj_la1_1 = new int[] {0xfe03a2,0x7e0082,0x800320,0xff51fc11,0x0,0xff51fc11,0xff51fc11,0x0,0xff51fc11,0x80000,0x82,0x0,0x2e0082,0x0,0x0,0x500000,0x500000,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0xff01fc51,0xff01fc51,0x0,0x0,0x0,0xff01fc51,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x40000000,0x0,0x40000000,0x40,0x0,0xff01fc51,0xff01fc51,0xff01fc51,0xff01fc51,0xff01fc51,0x0,0x0,0x0,0x0,0x0,0x0,0xff01fc11,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0xff01fc11,0xff01fc11,0x0,0x11,0x11,0x0,0x0,0x0,0x11,0x11,0x1d,0x1fc00,0x0,0x0,0x11,0x0,0x0,0x0,0x0,0x0,0x11,0x11,0x1d,0x7f000000,0x0,0xff01fc51,0xff01fc51,0x0,0x80000000,0xff01fc51,0x0,0x0,0x7f01fc00,0x7f01fc00,0x0,0x0,0x0,0x0,0x0,0x11,0x0,0x11,0x0,0x0,0x0,};
}
private static void jj_la1_init_2() {
- jj_la1_2 = new int[] {0x3,0x1,0x2,0x8088024,0x1000,0x8088024,0x8088024,0x1000,0x8088024,0x0,0x0,0x1,0x1,0x0,0x0,0x0,0x0,0x800000,0x0,0x20000,0x0,0x0,0x20000,0x0,0x80000000,0x80a8024,0x80a8024,0x40,0x8004,0x2000,0x80a8024,0x0,0x20000,0x2000,0x2000,0x200000,0x2000,0x2000,0x200000,0x8000,0x18,0x66820000,0x18,0x0,0x66820000,0x8088024,0x8088024,0x8088024,0x8088024,0x8088024,0x66820000,0x0,0x100,0x200,0x80,0x40,0x8088024,0x1800000,0x66000000,0x80000000,0x80000000,0x0,0x0,0x0,0x8088004,0x8088004,0x8000,0x0,0x0,0x2000,0x4,0x8000,0x800000,0x800000,0x66800000,0x0,0x200000,0x200000,0x0,0x8000,0x66808000,0x200000,0x8000,0x200000,0x800000,0x800000,0x66800000,0x0,0x200000,0x8088024,0x8088024,0x0,0x0,0x8088024,0x8080000,0x0,0x8000,0x2000,0x0,0x0,0x0,0x0,0x800000c0,0x2000,0x0,0x1800000,0x66000000,0x800,};
+ jj_la1_2 = new int[] {0x3,0x1,0x2,0x8088024,0x1000,0x8088024,0x8088024,0x1000,0x8088024,0x0,0x0,0x1,0x1,0x0,0x0,0x0,0x0,0x800000,0x0,0x20000,0x0,0x0,0x20000,0x0,0x80000000,0x80a8024,0x80a8024,0x40,0x8004,0x2000,0x80a8024,0x0,0x20000,0x2000,0x2000,0x200000,0x2000,0x2000,0x200000,0x8000,0x18,0x66820000,0x18,0x0,0x66820000,0x8088024,0x8088024,0x8088024,0x8088024,0x8088024,0x66820000,0x0,0x100,0x200,0x80,0x40,0x8088024,0x1800000,0x66000000,0x80000000,0x80000000,0x0,0x0,0x0,0x8088004,0x8088004,0x8000,0x0,0x0,0x2000,0x4,0x8000,0x800000,0x800000,0x66800000,0x0,0x200000,0x200000,0x0,0x8000,0x66808000,0x200000,0x8000,0x200000,0x800000,0x800000,0x66800000,0x0,0x200000,0x8088024,0x8088024,0x0,0x0,0x8088024,0x8080000,0x200000,0x0,0x8000,0x2000,0x0,0x0,0x0,0x0,0x800000c0,0x2000,0x0,0x1800000,0x66000000,0x800,};
}
private static void jj_la1_init_3() {
- jj_la1_3 = new int[] {0x0,0x0,0x0,0xb81,0x0,0xb81,0xb81,0x0,0xb81,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x800,0x0,0x0,0x800,0x0,0xb81,0xb81,0x0,0x0,0x0,0xb81,0x800,0x0,0x0,0x0,0x4,0x0,0x0,0x4,0x880,0x0,0x0,0x0,0x0,0x0,0xb81,0xb81,0xb81,0xb81,0xb81,0x0,0x40,0x0,0x0,0x0,0x0,0xb81,0x0,0x0,0x1,0x1,0x6,0x6,0x8,0xb81,0xb80,0x0,0x0,0x800,0x0,0x300,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0xb81,0xb81,0x4,0x0,0xb81,0x0,0x0,0x0,0x0,0x900,0x2,0x900,0x800,0x800,0x0,0x800,0x0,0x0,0x0,};
+ jj_la1_3 = new int[] {0x0,0x0,0x0,0xb81,0x0,0xb81,0xb81,0x0,0xb81,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x800,0x0,0x0,0x800,0x0,0xb81,0xb81,0x0,0x0,0x0,0xb81,0x800,0x0,0x0,0x0,0x4,0x0,0x0,0x4,0x880,0x0,0x0,0x0,0x0,0x0,0xb81,0xb81,0xb81,0xb81,0xb81,0x0,0x40,0x0,0x0,0x0,0x0,0xb81,0x0,0x0,0x1,0x1,0x6,0x6,0x8,0xb81,0xb80,0x0,0x0,0x800,0x0,0x300,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0xb81,0xb81,0x4,0x0,0xb81,0x0,0x0,0x0,0x0,0x0,0x900,0x2,0x900,0x800,0x800,0x0,0x800,0x0,0x0,0x0,};
}
static final private JJCalls[] jj_2_rtns = new JJCalls[18];
static private boolean jj_rescan = false;
@@ -6433,7 +6456,7 @@ public PrismParser(java.io.InputStream stream, String encoding) {
token = new Token();
jj_ntk = -1;
jj_gen = 0;
- for (int i = 0; i < 108; i++) jj_la1[i] = -1;
+ for (int i = 0; i < 109; i++) jj_la1[i] = -1;
for (int i = 0; i < jj_2_rtns.length; i++) jj_2_rtns[i] = new JJCalls();
}
@@ -6448,7 +6471,7 @@ static public void ReInit(java.io.InputStream stream, String encoding) {
token = new Token();
jj_ntk = -1;
jj_gen = 0;
- for (int i = 0; i < 108; i++) jj_la1[i] = -1;
+ for (int i = 0; i < 109; i++) jj_la1[i] = -1;
for (int i = 0; i < jj_2_rtns.length; i++) jj_2_rtns[i] = new JJCalls();
}
@@ -6466,7 +6489,7 @@ public PrismParser(java.io.Reader stream) {
token = new Token();
jj_ntk = -1;
jj_gen = 0;
- for (int i = 0; i < 108; i++) jj_la1[i] = -1;
+ for (int i = 0; i < 109; i++) jj_la1[i] = -1;
for (int i = 0; i < jj_2_rtns.length; i++) jj_2_rtns[i] = new JJCalls();
}
@@ -6485,7 +6508,7 @@ static public void ReInit(java.io.Reader stream) {
token = new Token();
jj_ntk = -1;
jj_gen = 0;
- for (int i = 0; i < 108; i++) jj_la1[i] = -1;
+ for (int i = 0; i < 109; i++) jj_la1[i] = -1;
for (int i = 0; i < jj_2_rtns.length; i++) jj_2_rtns[i] = new JJCalls();
}
@@ -6502,7 +6525,7 @@ public PrismParser(PrismParserTokenManager tm) {
token = new Token();
jj_ntk = -1;
jj_gen = 0;
- for (int i = 0; i < 108; i++) jj_la1[i] = -1;
+ for (int i = 0; i < 109; i++) jj_la1[i] = -1;
for (int i = 0; i < jj_2_rtns.length; i++) jj_2_rtns[i] = new JJCalls();
}
@@ -6512,7 +6535,7 @@ public void ReInit(PrismParserTokenManager tm) {
token = new Token();
jj_ntk = -1;
jj_gen = 0;
- for (int i = 0; i < 108; i++) jj_la1[i] = -1;
+ for (int i = 0; i < 109; i++) jj_la1[i] = -1;
for (int i = 0; i < jj_2_rtns.length; i++) jj_2_rtns[i] = new JJCalls();
}
@@ -6648,7 +6671,7 @@ static public ParseException generateParseException() {
la1tokens[jj_kind] = true;
jj_kind = -1;
}
- for (int i = 0; i < 108; i++) {
+ for (int i = 0; i < 109; i++) {
if (jj_la1[i] == jj_gen) {
for (int j = 0; j < 32; j++) {
if ((jj_la1_0[i] & (1<> or [[...]]
(( begin = { ret = new ExpressionStrategy(true); } ExpressionStrategyCoalition(ret) )
| (begin = { ret = new ExpressionStrategy(false); } ExpressionStrategyCoalition(ret) ))
+ // Optional modifier
+ ( modifier = IdentifierExpression() )?
// Child expression
(
( expr = ExpressionProb(prop, pathprop) | expr = ExpressionReward(prop, pathprop) )
@@ -1915,6 +1918,7 @@ Expression ExpressionStrategy(boolean prop, boolean pathprop) :
{ ret.addOperand(expr); }
))
{
+ ret.setModifier(modifier == null ? null : modifier.getName());
ret.setPosition(begin, getToken(0));
return ret;
}
diff --git a/prism/src/parser/ast/ExpressionStrategy.java b/prism/src/parser/ast/ExpressionStrategy.java
index 4afca9cfba..1a313c90af 100644
--- a/prism/src/parser/ast/ExpressionStrategy.java
+++ b/prism/src/parser/ast/ExpressionStrategy.java
@@ -46,6 +46,9 @@ public class ExpressionStrategy extends Expression
/** Coalition info (for game models) */
protected Coalition coalition = new Coalition();
+ /** Optional "modifier" to specify variants */
+ protected String modifier = null;
+
/** Child expression(s) */
protected ArrayList operands = new ArrayList();
@@ -87,6 +90,14 @@ public void setCoalition(List coalition)
this.coalition.setPlayers(coalition);
}
+ /**
+ * Set the (optional) "modifier" for this operator.
+ */
+ public void setModifier(String modifier)
+ {
+ this.modifier = modifier;
+ }
+
public void setSingleOperand(Expression expression)
{
operands.clear();
@@ -139,6 +150,22 @@ public boolean hasSingleOperand()
return singleOperand;
}
+ /**
+ * Get the (optional) "modifier" for this operator.
+ */
+ public String getModifier()
+ {
+ return modifier;
+ }
+
+ /**
+ * Get a string representing the modifier as a suffix for the operator.
+ */
+ public String getModifierString()
+ {
+ return modifier == null ? "" : "{" + modifier + "}";
+ }
+
public int getNumOperands()
{
return operands.size();
@@ -223,6 +250,7 @@ public String toString()
s += (thereExists ? "<<" : "[[");
s += coalition;
s += (thereExists ? ">> " : "]] ");
+ s += getModifierString();
if (singleOperand) {
s += operands.get(0);
} else {
@@ -246,6 +274,7 @@ public int hashCode()
final int prime = 31;
int result = 1;
result = prime * result + ((coalition == null) ? 0 : coalition.hashCode());
+ result = prime * result + ((modifier == null) ? 0 : modifier.hashCode());
result = prime * result + ((operands == null) ? 0 : operands.hashCode());
result = prime * result + (singleOperand ? 1231 : 1237);
result = prime * result + (thereExists ? 1231 : 1237);
@@ -267,6 +296,11 @@ public boolean equals(Object obj)
return false;
} else if (!coalition.equals(other.coalition))
return false;
+ if (modifier == null) {
+ if (other.modifier != null)
+ return false;
+ } else if (!modifier.equals(other.modifier))
+ return false;
if (operands == null) {
if (other.operands != null)
return false;
diff --git a/prism/src/strat/MDStrategyArray.java b/prism/src/strat/MDStrategyArray.java
index 7966e8bc97..3721f2ecc3 100644
--- a/prism/src/strat/MDStrategyArray.java
+++ b/prism/src/strat/MDStrategyArray.java
@@ -56,7 +56,7 @@ public MDStrategyArray(NondetModel model, int choices[])
super(model);
this.choices = choices;
}
-
+
@Override
public Object getChoiceAction(int s, int m)
{
@@ -69,6 +69,10 @@ public int getChoiceIndex(int s, int m)
{
return choices[s];
}
+ public int[] getChoiceIndexMulti(int s, int m)
+ {
+ return null;
+ }
@Override
public UndefinedReason whyUndefined(int s, int m)
diff --git a/prism/src/strat/Strategy.java b/prism/src/strat/Strategy.java
index ec66d47996..271f3499c5 100644
--- a/prism/src/strat/Strategy.java
+++ b/prism/src/strat/Strategy.java
@@ -99,6 +99,7 @@ public default Object sampleChoiceAction(int s, int m, RandomNumberGenerator rng
* Pass an arbitrary value (e.g. -1) for m if memory is not relevant.
*/
public int getChoiceIndex(int s, int m);
+ //public int[] getChoiceIndexMulti(int s, int m);
/**
* Is a choice defined by the strategy in the state index s
diff --git a/prism/src/symbolic/comp/NondetModelChecker.java b/prism/src/symbolic/comp/NondetModelChecker.java
index 62a6b0c7e7..eae5c501e9 100644
--- a/prism/src/symbolic/comp/NondetModelChecker.java
+++ b/prism/src/symbolic/comp/NondetModelChecker.java
@@ -231,7 +231,11 @@ protected StateValues checkExpressionStrategy(ExpressionStrategy expr, JDDNode s
coalition = null;
}
- // Process operand(s)
+ // Multi-strategies not supported
+ if ("multi".equals(expr.getModifier())) {
+ throw new PrismNotSupportedException("Multi-strategy synthesis not supported by this engine");
+ }
+
List exprs = expr.getOperands();
// Pass onto relevant method:
// Single P operator
diff --git a/prism/tests/robot.nm b/prism/tests/robot.nm
new file mode 100644
index 0000000000..eb517c8c02
--- /dev/null
+++ b/prism/tests/robot.nm
@@ -0,0 +1,32 @@
+mdp
+
+module M
+
+s:[0..5];
+
+[east] s=0 -> 0.6:(s'=1) + 0.4:(s'=0);
+[south] s=0 -> 0.8:(s'=3) + 0.1:(s'=1) + 0.1:(s'=4);
+[east] s=1 -> 1:(s'=2);
+[south] s=1 -> 0.5:(s'=4) + 0.5:(s'=2);
+[stuck] s=2 -> 1:(s'=2);
+[stuck] s=3 -> 1:(s'=3);
+[east] s=4 -> 1:(s'=5);
+[west] s=4 -> 0.6:(s'=3) + 0.4:(s'=4);
+[north] s=5 -> 0.9:(s'=2) + 0.1:(s'=5);
+[west] s=5 -> 1:(s'=4);
+
+endmodule
+
+label "hazard" = s=1;
+label "goal1" = s=5;
+label "goal2" = s=2|s=3;
+
+rewards "time"
+
+[north] s!=5 : 1;
+[east] s!=5 : 1;
+[south] s!=5 : 1;
+[west] s!=5 : 1;
+[stuck] s!=5 : 1;
+
+endrewards
diff --git a/robot-imdp.prism b/robot-imdp.prism
new file mode 100644
index 0000000000..fef774afbd
--- /dev/null
+++ b/robot-imdp.prism
@@ -0,0 +1,41 @@
+mdp
+const int N=10; // N*N grid map
+const double p=0.1; // with probability p, a move to a neighboring state state occurs due to seeing and control noise
+const double e = 0.02;
+
+formula wall = (r=6 & c=2) | (r=8 & c=1) | (r=4 & c=1) | (r=5 & c=2) | (r=7 & c=1) | (r=8 & c=3) | (r=9 & c=2) | (r=9 & c=1) | (r=4 & c=4) | (r=7 & c=6) | (r=9 & c=5) | (r=3 & c=5) | (r=6 & c=4) | (r=7 & c=2) | (r=5 & c=9) | (r=8 & c=9);
+
+module robot
+ //define robot position
+ r:[1..N] init 1; //grid row
+ c:[1..N] init 1; //grid column
+
+ // go to the terminal state when hitting an obstacle
+ // [obstacle] wall -> (r'=10) & (c'=1);
+
+ // transitions
+ [east] (c [p/3-e,p/3+e]:(r'=min(r+1, N))+ [p/3-e,p/3+e]: (c'=max(c-1, 1))+ [p/3-e,p/3+e]: (r'=max(r-1, 1)) + [1-p-e,1-p+e]: (c'=min(c+1, N));
+ [south] (r [1-p-e,1-p+e]:(r'=min(r+1, N)) + [p/3-e,p/3+e]: (c'=min(c+1, N)) + [p/3-e,p/3+e]:(r'=max(r-1, 1))+ [p/3-e,p/3+e]: (c'=max(c-1, 1));
+ [west] (c>1 | c=1) -> [p/3-e,p/3+e]:(r'=max(r-1, 1))+ [p/3-e,p/3+e]:(r'=min(r+1, N))+ [p/3-e,p/3+e]: (c'=min(c+1, N)) + [1-p-e,1-p+e]: (c'=max(c-1, 1));
+ [north] (r=1 | r>1) -> [1-p-e,1-p+e]:(r'=max(r-1, 1)) + [p/3-e,p/3+e]: (c'=max(c-1, 1)) + [p/3-e,p/3+e]: (c'=min(c+1, N)) + [p/3-e,p/3+e]:(r'=min(r+1, N));
+
+ // terminal state self-loop to avoid deadlock
+ [done] r=10 & c=1 -> true;
+
+endmodule
+
+label "goal" = r=10 & c=1;
+
+label "obs" = (r=6 & c=2) | (r=8 & c=1) | (r=4 & c=1) | (r=5 & c=2) | (r=7 & c=1) | (r=8 & c=3) | (r=9 & c=2) | (r=9 & c=1) | (r=4 & c=4) | (r=7 & c=6) | (r=9 & c=5) | (r=3 & c=5) | (r=6 & c=4) | (r=7 & c=2) | (r=5 & c=9) | (r=8 & c=9);
+
+rewards
+ [east] !wall : 1;
+ [south] !wall : 1;
+ [west] !wall : 1;
+ [north] !wall : 1;
+
+ [east] wall : 20;
+ [south] wall : 20;
+ [west] wall : 20;
+ [north] wall : 20;
+endrewards
diff --git a/sav-imdp.prism b/sav-imdp.prism
new file mode 100644
index 0000000000..dd5662ac10
--- /dev/null
+++ b/sav-imdp.prism
@@ -0,0 +1,61 @@
+// GRID WORLD MODEL OF A SEMIAUTONOMOUS EXPLORING ROBOT
+// Sebastian Junges, RWTH Aachen University
+// As described in
+// Junges, Jansen, Dehnert, Topcu, Katoen:
+// Safety Constrained Reinforcement Learning
+// Proc. of TACAS’16
+
+mdp
+
+//PARAMETERS
+//The difference of the reliability of the channels between the worst and at the best position
+const double pLDiff=0.7;
+const double pHDiff=0.1;
+const double u=0.08;
+//Scaling factor for the minimum reliability of the channels
+const double pL=0.2;
+const double pH=0.3;
+
+//CONSTANTS
+//The minimum reliablities
+const double pLMin=pL*(1-pLDiff);
+const double pHMin= pH*(1-pHDiff);
+
+// Grid size
+const int Xsize = 5;
+const int Ysize = 5;
+// Number of tries before an error
+const int MAXTRIES = 2;
+// Ball within the robot has to move.
+const int B = 2;
+
+
+formula T = (xLoc = Xsize & yLoc = Ysize);
+
+
+module robot
+ xLoc : [1..Ysize] init 1;
+ yLoc : [1..Xsize] init 1;
+ unreported : [0..B] init 0;
+ hasSendNow : bool init false;
+ tries : [0..MAXTRIES] init 0;
+
+ [up] xLoc < Xsize & !T & hasSendNow -> 1:(xLoc'=xLoc+1) & (unreported' = 0) & (hasSendNow'=false);
+ [up] xLoc < Xsize & !T & !hasSendNow -> 1:(xLoc'=xLoc+1) & (unreported'=min(unreported+1, B));
+ [right] yLoc < Ysize & !T & hasSendNow -> 1:(yLoc'=yLoc+1) & (unreported' = 0)& (hasSendNow'=false);
+ [right] yLoc < Ysize & !T & !hasSendNow -> 1:(yLoc'=yLoc+1) & (unreported'=min(unreported+1,B));
+ [sendL] !hasSendNow & !T & tries < MAXTRIES -> [pLMin + pLDiff * xLoc/Xsize-u,pLMin + pLDiff * xLoc/Xsize+u]:(hasSendNow'=true) & (tries'=0) + [1 - pLMin - pLDiff * xLoc/Xsize-u,1 - pLMin - pLDiff * xLoc/Xsize+u]: (tries'=tries+1);
+ [sendH] !hasSendNow & !T & tries < MAXTRIES -> [pHMin + pHDiff * yLoc/Ysize-u,pHMin + pHDiff * yLoc/Ysize+u]:(hasSendNow'=true) & (tries'=0) + [1 - pHMin - pHDiff * yLoc/Ysize-u,1 - pHMin - pHDiff * yLoc/Ysize+u]: (tries'=tries+1);
+ [done] T -> 1:true;
+endmodule
+
+rewards
+ [up] true: 0.03;
+ [right] true: 0.03;
+ [sendL] true: max(10, min(11 + xLoc - yLoc, 20));
+ [sendH] true: min(13 + xLoc + yLoc, 24);
+endrewards
+
+
+label "goal" = T;
+label "Crash" = unreported=B;
\ No newline at end of file
diff --git a/strat1.txt b/strat1.txt
new file mode 100644
index 0000000000..ec5f9b25e0
--- /dev/null
+++ b/strat1.txt
@@ -0,0 +1,231 @@
+0: up
+1: down up stay
+2: down up stay
+3: down up stay
+4: up
+5: up
+6: down up stay
+7: up
+8: up
+9: up
+10: down up stay
+11: down up stay
+12: down up stay
+13: down up stay
+14: down up stay
+15: down up stay
+16: down up stay
+17: down up stay
+18: up
+19: up
+20: up
+21: down up stay
+22: up stay
+23: up
+24: up
+25: down up stay
+26: down up stay
+27: down up stay
+28: down up stay
+29: down up stay
+30: down up stay
+31: down up stay
+32: down up stay
+33: down up stay
+34: down up stay
+35: down up stay
+36: up stay
+37: down up stay
+38: down up stay
+39: down up stay
+40: down up stay
+41: up stay
+42: up
+43: down up stay
+44: down up stay
+45: down up stay
+46: down up stay
+47: up stay
+48: up stay
+49: down up stay
+50: down up stay
+51: down up stay
+52: down up stay
+53: down up stay
+54: down up stay
+55: down up stay
+56: down up stay
+57: down up stay
+58: down up stay
+59: down up stay
+60: down up stay
+61: down up stay
+62: down up stay
+63: up stay
+64: down up stay
+65: down up stay
+66: down up stay
+67: down up stay
+68: down up stay
+69: up stay
+70: up
+71: down up stay
+72: down up stay
+73: down up stay
+74: down up stay
+75: down up stay
+76: up stay
+77: up
+78: down up stay
+79: down up stay
+80: down up stay
+81: down up stay
+82: down up stay
+83: down up stay
+84: down up stay
+85: down up stay
+86: down up stay
+87: down up stay
+88: down up stay
+89: down up stay
+90: down up stay
+91: down up stay
+92: down up stay
+93: down up stay
+94: down up stay
+95: down up stay
+96: down up stay
+97: down up stay
+98: down up stay
+99: down up stay
+100: down up stay
+101: down up stay
+102: down up stay
+103: down up stay
+104: down up stay
+105: down up stay
+106: down up stay
+107: down up stay
+108: down up stay
+109: down up stay
+110: down up stay
+111: down up stay
+112: down up stay
+113: down up stay
+114: down up stay
+115: down up stay
+116: down up stay
+117: down up stay
+118: down up stay
+119: down up stay
+120: down up stay
+121: down up stay
+122: down up stay
+123: down up stay
+124: down up stay
+125: down up stay
+126: down up stay
+127: down up stay
+128: down up stay
+129: down up stay
+130: down up stay
+131: down up stay
+132: down up stay
+133: down up stay
+134: down up stay
+135: down up stay
+136: down up stay
+137: down up stay
+138: down up stay
+139: down up stay
+140: down up stay
+141: down up stay
+142: down up stay
+143: down up stay
+144: down up stay
+145: down up stay
+146: down up stay
+147: down up stay
+148: down up stay
+149: down up stay
+150: down up stay
+151: down up stay
+152: down up stay
+153: down up stay
+154: down up stay
+155: down up stay
+156: down up stay
+157: down up stay
+158: down up stay
+159: down up stay
+160: down up stay
+161: down up stay
+162: down up stay
+163: down up stay
+164: down up stay
+165: down up stay
+166: down up stay
+167: down up stay
+168: down up stay
+169: down up stay
+170: down up stay
+171: down up stay
+172: down up stay
+173: down up stay
+174: down up stay
+175: down up stay
+176: down up stay
+177: down up stay
+178: down up stay
+179: down up stay
+180: down up stay
+181: down up stay
+182: down up stay
+183: down up stay
+184: down up stay
+185: down up stay
+186: down up stay
+187: down up stay
+188: down up stay
+189: down up stay
+190: down up stay
+191: down up stay
+192: down up stay
+193: down up stay
+194: down up stay
+195: down up stay
+196: down up stay
+197: down up stay
+198: down up stay
+199: down up stay
+200: down up stay
+201: down up stay
+202: down up stay
+203: down up stay
+204: down up stay
+205: down up stay
+206: down up stay
+207: down up stay
+208: down up stay
+209: down up stay
+210: down up stay
+211: down up stay
+212: down up stay
+213: down up stay
+214: down up stay
+215: down up stay
+216: down up stay
+217: down up stay
+218: down up stay
+219: down up stay
+220: down up stay
+221: down up stay
+222: down up stay
+223: down up stay
+224: down up stay
+225: down up stay
+226: down up stay
+227: down up stay
+228: down up stay
+229: down up stay
+230: down up stay
\ No newline at end of file
diff --git a/strat2.txt b/strat2.txt
new file mode 100644
index 0000000000..5616dbcab2
--- /dev/null
+++ b/strat2.txt
@@ -0,0 +1,231 @@
+0: up
+1: down up stay
+2: down up stay
+3: down up stay
+4: up
+5: up
+6: down up stay
+7: up
+8: up
+9: up
+10: down up stay
+11: down up stay
+12: down up stay
+13: down up stay
+14: down up stay
+15: down up stay
+16: down up stay
+17: down up stay
+18: up
+19: up
+20: up
+21: down up stay
+22: up stay
+23: up
+24: up
+25: down up stay
+26: down up stay
+27: down up stay
+28: down up stay
+29: down up stay
+30: down up stay
+31: down up stay
+32: down up stay
+33: down up stay
+34: down up stay
+35: down up stay
+36: up
+37: down up stay
+38: down up stay
+39: down up stay
+40: down up stay
+41: up stay
+42: up
+43: down up stay
+44: down up stay
+45: down up stay
+46: down up stay
+47: up stay
+48: up stay
+49: down up stay
+50: down up stay
+51: down up stay
+52: down up stay
+53: down up stay
+54: down up stay
+55: down up stay
+56: down up stay
+57: down up stay
+58: down up stay
+59: down up stay
+60: down up stay
+61: down up stay
+62: down up stay
+63: down up stay
+64: down up stay
+65: down up stay
+66: down up stay
+67: down up stay
+68: down up stay
+69: up stay
+70: up
+71: down up stay
+72: down up stay
+73: down up stay
+74: down up stay
+75: down up stay
+76: up stay
+77: up
+78: down up stay
+79: down up stay
+80: down up stay
+81: down up stay
+82: down up stay
+83: down up stay
+84: down up stay
+85: down up stay
+86: down up stay
+87: down up stay
+88: down up stay
+89: down up stay
+90: down up stay
+91: down up stay
+92: down up stay
+93: down up stay
+94: down up stay
+95: down up stay
+96: down up stay
+97: down up stay
+98: down up stay
+99: down up stay
+100: down up stay
+101: down up stay
+102: down up stay
+103: down up stay
+104: down up stay
+105: down up stay
+106: down up stay
+107: down up stay
+108: down up stay
+109: down up stay
+110: down up stay
+111: down up stay
+112: down up stay
+113: down up stay
+114: down up stay
+115: down up stay
+116: down up stay
+117: down up stay
+118: down up stay
+119: down up stay
+120: down up stay
+121: down up stay
+122: down up stay
+123: down up stay
+124: down up stay
+125: down up stay
+126: down up stay
+127: down up stay
+128: down up stay
+129: down up stay
+130: down up stay
+131: down up stay
+132: down up stay
+133: down up stay
+134: down up stay
+135: down up stay
+136: down up stay
+137: down up stay
+138: down up stay
+139: down up stay
+140: down up stay
+141: down up stay
+142: down up stay
+143: down up stay
+144: down up stay
+145: down up stay
+146: down up stay
+147: down up stay
+148: down up stay
+149: down up stay
+150: down up stay
+151: down up stay
+152: down up stay
+153: down up stay
+154: down up stay
+155: down up stay
+156: down up stay
+157: down up stay
+158: down up stay
+159: down up stay
+160: down up stay
+161: down up stay
+162: down up stay
+163: down up stay
+164: down up stay
+165: down up stay
+166: down up stay
+167: down up stay
+168: down up stay
+169: down up stay
+170: down up stay
+171: down up stay
+172: down up stay
+173: down up stay
+174: down up stay
+175: down up stay
+176: down up stay
+177: down up stay
+178: down up stay
+179: down up stay
+180: down up stay
+181: down up stay
+182: down up stay
+183: down up stay
+184: down up stay
+185: down up stay
+186: down up stay
+187: down up stay
+188: down up stay
+189: down up stay
+190: down up stay
+191: down up stay
+192: down up stay
+193: down up stay
+194: down up stay
+195: down up stay
+196: down up stay
+197: down up stay
+198: down up stay
+199: down up stay
+200: down up stay
+201: down up stay
+202: down up stay
+203: down up stay
+204: down up stay
+205: down up stay
+206: down up stay
+207: down up stay
+208: down up stay
+209: down up stay
+210: down up stay
+211: down up stay
+212: down up stay
+213: down up stay
+214: down up stay
+215: down up stay
+216: down up stay
+217: down up stay
+218: down up stay
+219: down up stay
+220: down up stay
+221: down up stay
+222: down up stay
+223: down up stay
+224: down up stay
+225: down up stay
+226: down up stay
+227: down up stay
+228: down up stay
+229: down up stay
+230: down up stay
\ No newline at end of file
diff --git a/task_assigning.prism b/task_assigning.prism
new file mode 100644
index 0000000000..676950aec5
--- /dev/null
+++ b/task_assigning.prism
@@ -0,0 +1,56 @@
+mdp
+
+// Autonomous Warehouse Scheduling - Interval MDP
+// Single robot with task queue and battery management
+
+const int MaxTasks = 10; // maximum tasks in queue
+const int StartTasks = 5; // initial queued tasks
+const int MaxBat = 5; // maximum battery level
+const int StartBat = 5; // initial battery level
+
+// State variables:
+// tasks: remaining tasks in queue; bat: robot battery level
+module Scheduler
+ tasks : [0..MaxTasks] init StartTasks;
+ bat : [0..MaxBat] init StartBat;
+
+ // Assign a task: attempt to complete one
+ [assign] tasks>0 & bat>0 ->
+ [0.7,0.9] : (tasks' = tasks-1) & (bat' = bat-1) +
+ [0.1,0.3] : (tasks' = tasks) & (bat' = bat-1);
+
+ // Robot idle (wait)
+ [wait] tasks>=0 -> 1 : (tasks' = tasks) & (bat' = bat);
+
+ // Recharge at station
+ [recharge] bat 1 : (bat' = MaxBat);
+endmodule
+
+// Probability of new task arrivals per timestep
+global arrival : bool init false;
+
+module TaskArrival
+ // New task arrives
+ [arrival] true ->
+ [0.2,0.4] : (arrival' = true) +
+ [0.6,0.8] : (arrival' = false);
+
+ // Update queue when arrival is true
+ [assign] arrival=true & tasks 1 : (tasks' = min(tasks+1, MaxTasks));
+ [wait] arrival=true & tasks 1 : (tasks' = min(tasks+1, MaxTasks));
+ [recharge] arrival=true & tasks 1 : (tasks' = min(tasks+1, MaxTasks));
+endmodule
+
+// Rewards: + for completed tasks, - for delay and recharge energy
+//rewards "throughput"
+// [assign] true : 1;
+//endrewards
+
+rewards
+ [assign] true : 1;
+ [wait] true : 1;
+ [recharge] true : 2;
+endrewards
+
+// Label when all tasks done and battery full
+label "goal" = (tasks=0 & bat=MaxBat);
\ No newline at end of file
diff --git a/test-imdp.prism b/test-imdp.prism
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/test.prism b/test.prism
new file mode 100644
index 0000000000..6f93335cd3
--- /dev/null
+++ b/test.prism
@@ -0,0 +1,21 @@
+mdp
+
+module robot
+ s : [0..10] init 0;
+
+ // at state 0: west is very reliable, south less so
+ [west] (s=0) -> [0.8,0.95]:(s'=1) + [0.05,0.2]: (s'=0);
+ [south] (s=0) -> [0.7,0.9]:(s'=3) + [0.1,0.3]: (s'=0);
+
+ // at state 1: south is quite noisy
+ [stop] (s=1) -> 1.0 : true;
+
+ [stop] (s=3) -> 1.0 : true;
+endmodule
+
+label "goal" = (s=3) | (s=1);
+
+rewards
+ [west] true: 1;
+ [south] true: 1;
+endrewards
diff --git a/test1.prism b/test1.prism
new file mode 100644
index 0000000000..442fe72cb4
--- /dev/null
+++ b/test1.prism
@@ -0,0 +1,20 @@
+mdp
+
+module OneOut_allLoPositive
+ // States: 0 initial; 1 goes to goal; 2 goes to sink; 3 goal; 4 sink
+ s : [0..4] init 0;
+
+ // Only one successor per action (prob must be 1 in any feasible assignment)
+ [a] s=0 -> [0.90,1.00] : (s'=1);
+ [b] s=0 -> [0.90,1.00] : (s'=2);
+
+ // Route to absorbing goal/sink
+ [t1] s=1 -> (s'=3);
+ [t2] s=2 -> (s'=4);
+
+ [end1] s=3 -> (s'=3); // goal
+ [end2] s=4 -> (s'=4); // sink
+endmodule
+
+label "goal" = s=3;
+label "Crash" = s=4;
diff --git a/test15.prism b/test15.prism
new file mode 100644
index 0000000000..38b46bfcfb
--- /dev/null
+++ b/test15.prism
@@ -0,0 +1,71 @@
+mdp
+
+module Fifteen
+ // 0 = initial; 1..15 = uncertain successors; 16 = goal; 17 = sink
+ s : [0..17] init 0;
+
+ // ---- Action a: one heavy, two medium, rest small
+ // lo sum = 0.30 + 2*0.05 + 12*0.02 = 0.64 <= 1
+ // hi sum = 0.60 + 2*0.25 + 12*0.12 = 2.54 >= 1
+ [a] s=0 ->
+ [0.30,0.60] : (s'=1) +
+ [0.05,0.25] : (s'=2) +
+ [0.05,0.25] : (s'=3) +
+ [0.02,0.12] : (s'=4) +
+ [0.02,0.12] : (s'=5) +
+ [0.02,0.12] : (s'=6) +
+ [0.02,0.12] : (s'=7) +
+ [0.02,0.12] : (s'=8) +
+ [0.02,0.12] : (s'=9) +
+ [0.02,0.12] : (s'=10) +
+ [0.02,0.12] : (s'=11) +
+ [0.02,0.12] : (s'=12) +
+ [0.02,0.12] : (s'=13) +
+ [0.02,0.12] : (s'=14) +
+ [0.02,0.12] : (s'=15);
+
+ // ---- Action b: two “heads” elsewhere, many smalls (different shape)
+ // lo sum = 2*0.12 + 13*0.01 = 0.37 <= 1
+ // hi sum = 2*0.32 + 13*0.09 = 1.81 >= 1
+ [b] s=0 ->
+ [0.01,0.09] : (s'=1) +
+ [0.01,0.09] : (s'=2) +
+ [0.01,0.09] : (s'=3) +
+ [0.01,0.09] : (s'=4) +
+ [0.01,0.09] : (s'=5) +
+ [0.01,0.09] : (s'=6) +
+ [0.01,0.09] : (s'=7) +
+ [0.12,0.32] : (s'=8) + // head #1 placed away from action a's heavy
+ [0.12,0.32] : (s'=9) + // head #2
+ [0.01,0.09] : (s'=10) +
+ [0.01,0.09] : (s'=11) +
+ [0.01,0.09] : (s'=12) +
+ [0.01,0.09] : (s'=13) +
+ [0.01,0.09] : (s'=14) +
+ [0.01,0.09] : (s'=15);
+
+ // successors: 1..6 -> goal, 7..15 -> sink
+ [] s=1 -> (s'=16);
+ [] s=2 -> (s'=16);
+ [] s=3 -> (s'=16);
+ [] s=4 -> (s'=16);
+ [] s=5 -> (s'=16);
+ [] s=6 -> (s'=16);
+
+ [] s=7 -> (s'=17);
+ [] s=8 -> (s'=17);
+ [] s=9 -> (s'=17);
+ [] s=10 -> (s'=17);
+ [] s=11 -> (s'=17);
+ [] s=12 -> (s'=17);
+ [] s=13 -> (s'=17);
+ [] s=14 -> (s'=17);
+ [] s=15 -> (s'=17);
+
+ // absorbing goal/sink
+ [] s=16 -> (s'=16);
+ [] s=17 -> (s'=17);
+endmodule
+
+label "goal" = s=16;
+label "Crash" = s=17;
diff --git a/tiny-imdp.prism b/tiny-imdp.prism
new file mode 100644
index 0000000000..87a4b1b410
--- /dev/null
+++ b/tiny-imdp.prism
@@ -0,0 +1,22 @@
+mdp
+
+const double p = 0.8;
+const double u=0.1;
+
+module chain
+
+ s : [0..2] init 0;
+
+ [a] s=0 -> [p-u,p+u] : (s'=1) + [1-p-u,1-p+u] : (s'=2);
+ [b] s=0 -> 1 : (s'=2);
+ [c] s=1 -> 1 : (s'=2);
+
+endmodule
+
+rewards
+ [a] true : 0;
+ [b] true : 10;
+ [c] true : 19;
+endrewards
+
+label "goal" = s=2;
\ No newline at end of file
diff --git a/value1.txt b/value1.txt
new file mode 100644
index 0000000000..c8f43fde19
--- /dev/null
+++ b/value1.txt
@@ -0,0 +1,231 @@
+state: 0, value: 0.48
+state: 1, value: 0.0
+state: 2, value: 0.0
+state: 3, value: 0.0
+state: 4, value: 0.4689952656874547
+state: 5, value: 0.327516845792529
+state: 6, value: 0.0
+state: 7, value: 0.8231826224370418
+state: 8, value: 0.6118128488940866
+state: 9, value: 0.30537841530425824
+state: 10, value: 0.0
+state: 11, value: 0.0
+state: 12, value: 0.0
+state: 13, value: 0.0
+state: 14, value: 0.0
+state: 15, value: 0.0
+state: 16, value: 0.0
+state: 17, value: 0.0
+state: 18, value: 0.7586770833603308
+state: 19, value: 0.46306426114710747
+state: 20, value: 0.18350792936033053
+state: 21, value: 0.0
+state: 22, value: 0.9432541848004731
+state: 23, value: 0.7618576232185752
+state: 24, value: 0.3909836966810877
+state: 25, value: 0.0
+state: 26, value: 0.0
+state: 27, value: 0.0
+state: 28, value: 0.0
+state: 29, value: 0.0
+state: 30, value: 0.0
+state: 31, value: 0.0
+state: 32, value: 0.0
+state: 33, value: 0.0
+state: 34, value: 0.0
+state: 35, value: 0.0
+state: 36, value: 0.4685673999999999
+state: 37, value: 0.0
+state: 38, value: 0.0
+state: 39, value: 0.0
+state: 40, value: 0.0
+state: 41, value: 0.9730000000000004
+state: 42, value: 0.8738472826682405
+state: 43, value: 0.0
+state: 44, value: 0.0
+state: 45, value: 0.0
+state: 46, value: 0.9757000000000003
+state: 47, value: 0.9182981884454935
+state: 48, value: 0.6140202093838816
+state: 49, value: 0.0
+state: 50, value: 0.0
+state: 51, value: 0.0
+state: 52, value: 0.0
+state: 53, value: 0.0
+state: 54, value: 0.0
+state: 55, value: 0.0
+state: 56, value: 0.0
+state: 57, value: 0.0
+state: 58, value: 0.0
+state: 59, value: 0.0
+state: 60, value: 0.0
+state: 61, value: 0.0
+state: 62, value: 0.0
+state: 63, value: 0.6693819999999999
+state: 64, value: 0.0
+state: 65, value: 0.0
+state: 66, value: 0.0
+state: 67, value: 0.0
+state: 68, value: 0.0
+state: 69, value: 1.0
+state: 70, value: 0.91
+state: 71, value: 0.0
+state: 72, value: 0.0
+state: 73, value: 0.0
+state: 74, value: 0.0
+state: 75, value: 1.0
+state: 76, value: 1.0
+state: 77, value: 0.9061010469194081
+state: 78, value: 0.0
+state: 79, value: 0.0
+state: 80, value: 0.0
+state: 81, value: 0.9999999999999999
+state: 82, value: 1.0
+state: 83, value: 0.7287003489731361
+state: 84, value: 0.27942237732139374
+state: 85, value: 0.0
+state: 86, value: 0.0
+state: 87, value: 0.0
+state: 88, value: 0.0
+state: 89, value: 0.0
+state: 90, value: 0.0
+state: 91, value: 0.0
+state: 92, value: 0.0
+state: 93, value: 0.0
+state: 94, value: 0.0
+state: 95, value: 0.0
+state: 96, value: 0.0
+state: 97, value: 0.0
+state: 98, value: 0.0
+state: 99, value: 0.95626
+state: 100, value: 0.0
+state: 101, value: 0.0
+state: 102, value: 0.0
+state: 103, value: 0.0
+state: 104, value: 0.0
+state: 105, value: 1.0
+state: 106, value: 1.0
+state: 107, value: 0.0
+state: 108, value: 0.0
+state: 109, value: 0.0
+state: 110, value: 0.0
+state: 111, value: 1.0
+state: 112, value: 1.0
+state: 113, value: 1.0
+state: 114, value: 0.0
+state: 115, value: 0.0
+state: 116, value: 0.0
+state: 117, value: 1.0
+state: 118, value: 1.0
+state: 119, value: 1.0
+state: 120, value: 0.9855594330348446
+state: 121, value: 0.0
+state: 122, value: 0.0
+state: 123, value: 0.0
+state: 124, value: 0.0
+state: 125, value: 0.0
+state: 126, value: 0.0
+state: 127, value: 0.01280000000000002
+state: 128, value: 0.0
+state: 129, value: 1.0
+state: 130, value: 0.8380000000000001
+state: 131, value: 0.0
+state: 132, value: 0.0
+state: 133, value: 0.0
+state: 134, value: 0.0
+state: 135, value: 1.0
+state: 136, value: 1.0
+state: 137, value: 1.0
+state: 138, value: 0.0
+state: 139, value: 0.0
+state: 140, value: 0.24879999999999988
+state: 141, value: 1.0
+state: 142, value: 1.0
+state: 143, value: 1.0
+state: 144, value: 1.0
+state: 145, value: 0.0
+state: 146, value: 0.07001108447457788
+state: 147, value: 1.0
+state: 148, value: 1.0
+state: 149, value: 1.0
+state: 150, value: 1.0
+state: 151, value: 0.9598873139856795
+state: 152, value: 0.0
+state: 153, value: 1.0
+state: 154, value: 1.0
+state: 155, value: 1.0
+state: 156, value: 1.0
+state: 157, value: 0.9598873139856795
+state: 158, value: 0.05800747767960671
+state: 159, value: 1.0
+state: 160, value: 1.0
+state: 161, value: 0.40000000000000013
+state: 162, value: 0.0
+state: 163, value: 0.04000000000000006
+state: 164, value: 0.0
+state: 165, value: 1.0
+state: 166, value: 1.0
+state: 167, value: 1.0
+state: 168, value: 1.0
+state: 169, value: 0.0
+state: 170, value: 0.9771428571428568
+state: 171, value: 1.0
+state: 172, value: 1.0
+state: 173, value: 1.0
+state: 174, value: 1.0
+state: 175, value: 1.0
+state: 176, value: 0.0
+state: 177, value: 1.0
+state: 178, value: 1.0
+state: 179, value: 1.0
+state: 180, value: 1.0
+state: 181, value: 1.0
+state: 182, value: 0.9240290037607566
+state: 183, value: 1.0
+state: 184, value: 1.0
+state: 185, value: 1.0
+state: 186, value: 1.0
+state: 187, value: 1.0
+state: 188, value: 0.9088348045129081
+state: 189, value: 1.0
+state: 190, value: 1.0
+state: 191, value: 1.0
+state: 192, value: 1.0
+state: 193, value: 1.0
+state: 194, value: 0.908834804512908
+state: 195, value: 1.0
+state: 196, value: 1.0
+state: 197, value: 1.0
+state: 198, value: 1.0
+state: 199, value: 1.0
+state: 200, value: 1.0
+state: 201, value: 1.0
+state: 202, value: 1.0
+state: 203, value: 1.0
+state: 204, value: 1.0
+state: 205, value: 1.0
+state: 206, value: 1.0
+state: 207, value: 1.0
+state: 208, value: 1.0
+state: 209, value: 1.0
+state: 210, value: 1.0
+state: 211, value: 1.0
+state: 212, value: 1.0
+state: 213, value: 1.0
+state: 214, value: 1.0
+state: 215, value: 1.0
+state: 216, value: 1.0
+state: 217, value: 1.0
+state: 218, value: 1.0
+state: 219, value: 1.0
+state: 220, value: 1.0
+state: 221, value: 1.0
+state: 222, value: 1.0
+state: 223, value: 1.0
+state: 224, value: 1.0
+state: 225, value: 1.0
+state: 226, value: 1.0
+state: 227, value: 1.0
+state: 228, value: 1.0
+state: 229, value: 1.0
+state: 230, value: 1.0
\ No newline at end of file
diff --git a/value2.txt b/value2.txt
new file mode 100644
index 0000000000..5ab106abf1
--- /dev/null
+++ b/value2.txt
@@ -0,0 +1,231 @@
+state: 0, value: 0.48
+state: 1, value: 8.270999999893114E-5
+state: 2, value: 0.0016831499999979682
+state: 3, value: 0.011973429999998508
+state: 4, value: 0.49397929000000035
+state: 5, value: 0.33987007000000025
+state: 6, value: 0.008263499999999738
+state: 7, value: 0.8315032600000005
+state: 8, value: 0.6144472900000003
+state: 9, value: 0.30597061
+state: 10, value: 0.0
+state: 11, value: 0.0027569999999997874
+state: 12, value: 0.033129999999999105
+state: 13, value: 0.14650299999999838
+state: 14, value: 0.0
+state: 15, value: 0.0
+state: 16, value: 0.0027569999999997874
+state: 17, value: 0.023868999999999252
+state: 18, value: 0.8066170000000006
+state: 19, value: 0.47017600000000037
+state: 20, value: 0.18372900000000006
+state: 21, value: 0.0014339999999997133
+state: 22, value: 0.9435700000000009
+state: 23, value: 0.762391
+state: 24, value: 0.391381
+state: 25, value: 0.0
+state: 26, value: 0.0
+state: 27, value: 0.0
+state: 28, value: 0.09189999999999954
+state: 29, value: 0.3384999999999986
+state: 30, value: 0.6840999999999993
+state: 31, value: 0.0
+state: 32, value: 0.0
+state: 33, value: 0.0
+state: 34, value: 0.0918999999999992
+state: 35, value: 0.33849999999999925
+state: 36, value: 0.6958
+state: 37, value: 0.0
+state: 38, value: 0.0
+state: 39, value: 0.0
+state: 40, value: 0.04779999999999929
+state: 41, value: 0.9730000000000012
+state: 42, value: 0.8749000000000002
+state: 43, value: 0.0
+state: 44, value: 0.0
+state: 45, value: 0.0
+state: 46, value: 0.9757000000000007
+state: 47, value: 0.9189999999999999
+state: 48, value: 0.6147999999999998
+state: 49, value: 0.0
+state: 50, value: 0.0
+state: 51, value: 0.0
+state: 52, value: 0.0
+state: 53, value: 0.28
+state: 54, value: 0.7300000000000002
+state: 55, value: 1.0
+state: 56, value: 1.0
+state: 57, value: 0.0
+state: 58, value: 0.0
+state: 59, value: 0.0
+state: 60, value: 0.28
+state: 61, value: 0.7300000000000002
+state: 62, value: 1.0
+state: 63, value: 0.07
+state: 64, value: 0.0
+state: 65, value: 0.0
+state: 66, value: 0.0
+state: 67, value: 0.28
+state: 68, value: 0.7300000000000002
+state: 69, value: 1.0
+state: 70, value: 0.91
+state: 71, value: 0.0
+state: 72, value: 0.0
+state: 73, value: 0.0
+state: 74, value: 0.07
+state: 75, value: 1.0
+state: 76, value: 1.0
+state: 77, value: 0.91
+state: 78, value: 0.0
+state: 79, value: 0.0
+state: 80, value: 0.0
+state: 81, value: 1.0
+state: 82, value: 1.0
+state: 83, value: 0.7299999999999999
+state: 84, value: 0.28
+state: 85, value: 0.0
+state: 86, value: 0.0
+state: 87, value: 0.0
+state: 88, value: 0.0
+state: 89, value: 1.0
+state: 90, value: 1.0
+state: 91, value: 1.0
+state: 92, value: 1.0
+state: 93, value: 0.0
+state: 94, value: 0.0
+state: 95, value: 0.0
+state: 96, value: 1.0
+state: 97, value: 1.0
+state: 98, value: 1.0
+state: 99, value: 1.0
+state: 100, value: 0.0
+state: 101, value: 0.0
+state: 102, value: 0.0
+state: 103, value: 1.0
+state: 104, value: 1.0
+state: 105, value: 1.0
+state: 106, value: 1.0
+state: 107, value: 0.0
+state: 108, value: 0.0
+state: 109, value: 0.0
+state: 110, value: 1.0
+state: 111, value: 1.0
+state: 112, value: 1.0
+state: 113, value: 1.0
+state: 114, value: 0.0
+state: 115, value: 0.0
+state: 116, value: 0.0
+state: 117, value: 1.0
+state: 118, value: 1.0
+state: 119, value: 1.0
+state: 120, value: 1.0
+state: 121, value: 0.0
+state: 122, value: 0.0
+state: 123, value: 0.0
+state: 124, value: 1.0
+state: 125, value: 1.0
+state: 126, value: 1.0
+state: 127, value: 1.0
+state: 128, value: 1.0
+state: 129, value: 1.0
+state: 130, value: 1.0
+state: 131, value: 1.0
+state: 132, value: 1.0
+state: 133, value: 1.0
+state: 134, value: 1.0
+state: 135, value: 1.0
+state: 136, value: 1.0
+state: 137, value: 1.0
+state: 138, value: 1.0
+state: 139, value: 1.0
+state: 140, value: 1.0
+state: 141, value: 1.0
+state: 142, value: 1.0
+state: 143, value: 1.0
+state: 144, value: 1.0
+state: 145, value: 1.0
+state: 146, value: 1.0
+state: 147, value: 1.0
+state: 148, value: 1.0
+state: 149, value: 1.0
+state: 150, value: 1.0
+state: 151, value: 1.0
+state: 152, value: 1.0
+state: 153, value: 1.0
+state: 154, value: 1.0
+state: 155, value: 1.0
+state: 156, value: 1.0
+state: 157, value: 1.0
+state: 158, value: 0.0
+state: 159, value: 1.0
+state: 160, value: 1.0
+state: 161, value: 1.0
+state: 162, value: 1.0
+state: 163, value: 1.0
+state: 164, value: 1.0
+state: 165, value: 1.0
+state: 166, value: 1.0
+state: 167, value: 1.0
+state: 168, value: 1.0
+state: 169, value: 1.0
+state: 170, value: 1.0
+state: 171, value: 1.0
+state: 172, value: 1.0
+state: 173, value: 1.0
+state: 174, value: 1.0
+state: 175, value: 1.0
+state: 176, value: 1.0
+state: 177, value: 1.0
+state: 178, value: 1.0
+state: 179, value: 1.0
+state: 180, value: 1.0
+state: 181, value: 1.0
+state: 182, value: 1.0
+state: 183, value: 1.0
+state: 184, value: 1.0
+state: 185, value: 1.0
+state: 186, value: 1.0
+state: 187, value: 1.0
+state: 188, value: 1.0
+state: 189, value: 1.0
+state: 190, value: 1.0
+state: 191, value: 1.0
+state: 192, value: 1.0
+state: 193, value: 1.0
+state: 194, value: 1.0
+state: 195, value: 1.0
+state: 196, value: 1.0
+state: 197, value: 1.0
+state: 198, value: 1.0
+state: 199, value: 1.0
+state: 200, value: 1.0
+state: 201, value: 1.0
+state: 202, value: 1.0
+state: 203, value: 1.0
+state: 204, value: 1.0
+state: 205, value: 1.0
+state: 206, value: 1.0
+state: 207, value: 1.0
+state: 208, value: 1.0
+state: 209, value: 1.0
+state: 210, value: 1.0
+state: 211, value: 1.0
+state: 212, value: 1.0
+state: 213, value: 1.0
+state: 214, value: 1.0
+state: 215, value: 1.0
+state: 216, value: 1.0
+state: 217, value: 1.0
+state: 218, value: 1.0
+state: 219, value: 1.0
+state: 220, value: 1.0
+state: 221, value: 1.0
+state: 222, value: 1.0
+state: 223, value: 1.0
+state: 224, value: 1.0
+state: 225, value: 1.0
+state: 226, value: 1.0
+state: 227, value: 1.0
+state: 228, value: 1.0
+state: 229, value: 1.0
+state: 230, value: 1.0
\ No newline at end of file
diff --git a/visualization.py b/visualization.py
new file mode 100644
index 0000000000..daf0473ab0
--- /dev/null
+++ b/visualization.py
@@ -0,0 +1,43 @@
+import pandas as pd
+import matplotlib.pyplot as plt
+
+# Load the data
+df = pd.read_csv('viu.csv')
+
+
+# Compute permissiveness metric
+
+# Friendly titles for each task
+title_map = {
+ 'ac-8x5': 'Aircraft Collision',
+ 'SAV-5x5': 'Semi. Autonomous Vehicle',
+ 'obst-v1-100': 'Frozen Lake',
+ 'warehouse' : 'Warehouse Navigation'
+}
+
+tasks = df['Task'].unique()
+colors = ['tab:blue', 'tab:orange', 'tab:green', 'tab:red']
+
+# Create horizontal subplots
+fig, axes = plt.subplots(1, len(tasks), figsize=(15, 4), sharex=True)
+
+for ax, task, color in zip(axes, tasks, colors):
+ data = df[df['Task'] == task]
+ ax.plot(data['uGap'], data['Permissiveness'], marker='o', color=color)
+ ax.set_title(title_map[task], fontsize=12)
+ ax.set_xlabel('u-gap')
+ ax.set_ylabel('Permissiveness')
+ ax.grid(axis='y', linestyle='--', alpha=0.7)
+
+# Add a centered caption under the plots
+fig.text(
+ 0.5, # x = center
+ 0.01, # y = 1% from bottom of figure
+ 'Permissiveness = 1 - #DiscardedActions / #Interger',
+ ha='center', # horizontal alignment
+ va='bottom', # vertical alignment
+ fontsize='medium'
+)
+
+plt.tight_layout(rect=[0, 0.03, 1, 1]) # leave space at bottom for the caption
+plt.show()
diff --git a/viu.csv b/viu.csv
new file mode 100644
index 0000000000..0599cbeec9
--- /dev/null
+++ b/viu.csv
@@ -0,0 +1,19 @@
+Task,uGap,States,Transitions,Choices,Discarded,NumberPermissiveState,Permissiveness
+ac-8x5,0.01,231,2572,693,26,221,0.9624819625
+ac-8x5,0.03,231,2572,693,28,220,0.9595959596
+ac-8x5,0.05,231,2572,693,30,219,0.9567099567
+ac-8x5,0.08,231,2572,693,32,218,0.9538239538
+ac-8x5,0.1,231,2572,693,36,217,0.9480519481
+SAV-5x5,0.01,243,3628,1120,22,217,0.9803571429
+SAV-5x5,0.03,243,3628,1120,23,216,0.9794642857
+SAV-5x5,0.05,243,3628,1120,24,215,0.9785714286
+SAV-5x5,0.08,243,3628,1120,25,214,0.9776785714
+SAV-5x5,0.1,243,3628,1120,26,213,0.9767857143
+obst-v1-100,0.01,11336,1760,11424,30,21,0.9973739496
+obst-v1-100,0.03,11336,1760,11424,37,19,0.9967612045
+obst-v1-100,0.05,11336,1760,11424,54,12,0.9952731092
+warehouse,0.01,5512,7535,7518,2,2004,0.9997339718
+warehouse,0.03,5512,7535,7518,2,2004,0.9997339718
+warehouse,0.05,5512,7535,7518,2,2004,0.9997339718
+warehouse,0.08,5512,7535,7518,2,2004,0.9997339718
+warehouse,0.1,5512,7535,7518,2,2004,0.9997339718
\ No newline at end of file
diff --git a/warehouse.prism b/warehouse.prism
new file mode 100644
index 0000000000..dfb8870d4d
--- /dev/null
+++ b/warehouse.prism
@@ -0,0 +1,116 @@
+mdp
+
+const int N=7; // N*N grid map
+
+
+
+module robot
+
+ // define robot position
+ r:[1..N] init 1; // grid row
+ c:[1..N] init 1; // grid column
+
+ // stop when entering human zone
+ [stop] (r=N & c=N) -> 1: true;
+
+ // each state only allow certain moves based on the mission plan
+
+
+ [move_east] (r>=1 & r <= N & c >= 1 & c< N) & !(r>=N/3 & r<= 2*N/3 & c>=N/3 & c<= 2*N/3)
+ & !(r>=1 & r<=N/3 & c>=2*N/3 & c1 & r<=N/3 & c>=2*N/3 & c<=N)
+ & !(r>=2*N/3 & r=1 & c<=N/3)
+ & !(r>=2*N/3 & r<=N & c>1 & c<=N/3)
+ & !(r>=2 & r<=N/3 & c>=1 & c<=N/3)
+ & !(r>=2 & r<=N/3 & c>1 & c<=N/3)
+ & !(r>=2*N/3 & r=2*N/3 & c=2*N/3 & r<=N & c>=2*N/3 & c<=N)
+ & !(r = N & c = N)
+ -> [0.8, 0.9]:(c'=c+1) + [0.1, 0.2]:(c' = c);
+
+ [move_south] (r>=1 & r < N & c >= 1 & c<= N) & !(r>=N/3 & r<= 2*N/3 & c>=N/3 & c<= 2*N/3)
+ & !(r>=1 & r<=N/3 & c>=2*N/3 & c1 & r<=N/3 & c>=2*N/3 & c<=N)
+ & !(r>=2*N/3 & r=1 & c<=N/3)
+ & !(r>=2*N/3 & r<=N & c>1 & c<=N/3)
+ & !(r>=2 & r<=N/3 & c>=1 & c<=N/3)
+ & !(r>=2 & r<=N/3 & c>1 & c<=N/3)
+ & !(r>=2*N/3 & r=2*N/3 & c=2*N/3 & r<=N & c>=2*N/3 & c<=N)
+ & !(r = N & c = N)
+ -> [0.8, 0.9]:(r'=r+1) + [0.1, 0.2]:(r' = r);
+
+ [move_west] (r>=1 & r <= N & c > 1 & c<= N) & !(r>=N/3 & r<= 2*N/3 & c>=N/3 & c<= 2*N/3)
+ & !(r>=1 & r<=N/3 & c>=2*N/3 & c1 & r<=N/3 & c>=2*N/3 & c<=N)
+ & !(r>=2*N/3 & r=1 & c<=N/3)
+ & !(r>=2*N/3 & r<=N & c>1 & c<=N/3)
+ & !(r>=2 & r<=N/3 & c>=1 & c<=N/3)
+ & !(r>=2 & r<=N/3 & c>1 & c<=N/3)
+ & !(r>=2*N/3 & r=2*N/3 & c=2*N/3 & r<=N & c>=2*N/3 & c<=N)
+ & !(r = N & c = N)
+ -> [0.8,0.9]:(c'=c-1) + [0.1,0.2]:(c'=c);
+
+ [move_north] (r>1 & r <= N & c >= 1 & c<= N) & !(r>=N/3 & r<= 2*N/3 & c>=N/3 & c<= 2*N/3)
+ & !(r>=1 & r<=N/3 & c>=2*N/3 & c1 & r<=N/3 & c>=2*N/3 & c<=N)
+ & !(r>=2*N/3 & r=1 & c<=N/3)
+ & !(r>=2*N/3 & r<=N & c>1 & c<=N/3)
+ & !(r>=2 & r<=N/3 & c>=1 & c<=N/3)
+ & !(r>=2 & r<=N/3 & c>1 & c<=N/3)
+ & !(r>=2*N/3 & r=2*N/3 & c=2*N/3 & r<=N & c>=2*N/3 & c<=N)
+ & !(r = N & c = N)
+ ->[0.8,0.9]:(r'=r-1) + [0.1,0.2]:(r'=r);
+
+
+ // when in magnetic field, the sensor is not accurate
+ [move_east] (r>=N/3 & r<= 2*N/3 & c>=N/3 & c<= 2*N/3) & !(r = N & c = N) -> [0.1,0.4]:(r'=r+1) + [0.6,0.9]: (c'=c+1);
+ [move_south] (r>=N/3 & r<= 2*N/3 & c>=N/3 & c<= 2*N/3) & !(r = N & c = N)-> [0.6,0.9]:(r'=r+1) + [0.1,0.4]: (c'=c+1);
+ [move_west] (r>=N/3 & r<= 2*N/3 & c>=N/3 & c<= 2*N/3) & !(r = N & c = N) -> [0.1,0.4]:(r'=r-1) + [0.6,0.9]: (c'=c-1);
+ [move_north] (r>=N/3 & r<= 2*N/3 & c>=N/3 & c<= 2*N/3) & !(r = N & c = N) ->[0.6,0.9]:(r'=r-1) + [0.1,0.4]: (c'=c-1);
+
+
+ //red_zone
+ [move_east] (r>=1 & r<=N/3 & c>=2*N/3 & c [0.3,0.5]:(r'=r+1) + [0.5,0.7]: (c'=c+1);
+ [move_south] (r>=1 & r<=N/3 & c>=2*N/3 & c [0.5,0.7]:(r'=r+1) + [0.3,0.5]: (c'=c+1);
+ [move_west] (r>1 & r<=N/3 & c>=2*N/3 & c<=N) & !(r = N & c = N)-> [0.3,0.5]:(r'=r-1) + [0.5,0.7]: (c'=c-1);
+ [move_north] (r>1 & r<=N/3 & c>=2*N/3 & c<=N) & !(r = N & c = N)->[0.5,0.7]:(r'=r-1) + [0.3,0.5]: (c'=c-1);
+
+ [move_east] (r>=2*N/3 & r=1 & c<=N/3) & !(r = N & c = N)-> [0.3,0.5]:(r'=r+1) + [0.5,0.7]: (c'=c+1);
+ [move_south] (r>=2*N/3 & r=1 & c<=N/3) & !(r = N & c = N)-> [0.5,0.7]:(r'=r+1) + [0.3,0.5]: (c'=c+1);
+ [move_west] (r>=2*N/3 & r<=N & c>1 & c<=N/3) & !(r = N & c = N)-> [0.3,0.5]:(r'=r-1) + [0.5,0.7]: (c'=c-1);
+ [move_north] (r>=2*N/3 & r<=N & c>1 & c<=N/3) & !(r = N & c = N)->[0.5,0.7]:(r'=r-1) + [0.3,0.5]: (c'=c-1);
+
+ [move_east] (r>=2 & r<=N/3 & c>=1 & c<=N/3) & !(r = N & c = N)-> [0.3,0.5]:(r'=r+1) + [0.5,0.7]: (c'=c+1);
+ [move_south] (r>=2 & r<=N/3 & c>=1 & c<=N/3) & !(r = N & c = N) -> [0.5,0.7]:(r'=r+1) + [0.3,0.5]: (c'=c+1);
+ [move_west] (r>=2 & r<=N/3 & c>1 & c<=N/3) & !(r = N & c = N)-> [0.3,0.5]:(r'=r-1) + [0.5,0.7]: (c'=c-1);
+ [move_north] (r>=2 & r<=N/3 & c>1 & c<=N/3) & !(r = N & c = N) ->[0.5,0.7]:(r'=r-1) + [0.3,0.5]: (c'=c-1);
+
+ [move_east] (r>=2*N/3 & r=2*N/3 & c [0.3,0.5]:(r'=r+1) + [0.5,0.7]: (c'=c+1);
+ [move_south] (r>=2*N/3 & r=2*N/3 & c [0.5,0.7]:(r'=r+1) + [0.3,0.5]: (c'=c+1);
+ [move_west] (r>=2*N/3 & r<=N & c>=2*N/3 & c<=N) & !(r=N & c=N) -> [0.3,0.5]:(r'=r-1) + [0.5,0.7]: (c'=c-1);
+ [move_north] (r>=2*N/3 & r<=N & c>=2*N/3 & c<=N) & !(r=N & c=N) ->[0.5,0.7]:(r'=r-1) + [0.3,0.5]: (c'=c-1);
+ [move_east] (r = N & c = N-1) -> [0.8, 0.9]:(c'=c+1) + [0.1, 0.2]:(c' = c);
+ [move_south] (r = N-1 & c=N) -> [0.8, 0.9]:(r'=r+1) + [0.1, 0.2]:(r' = r);
+endmodule
+
+
+// propperty: the robot enters human zone with probabilty at most p
+// target states are human zones
+//label "goal" = (r=N-2 & c>=(N/2 + 1) & c<=(N/2 + 2)) ;
+label "goal" = (r=N & c=N);
+
+rewards
+ [move_east] true : 1;
+ [move_south] true : 1;
+ [move_west] true : 1;
+ [move_north] true : 1;
+endrewards
+
+
+
+
+
+
diff --git a/wh.prism b/wh.prism
new file mode 100644
index 0000000000..49277f1899
--- /dev/null
+++ b/wh.prism
@@ -0,0 +1,119 @@
+mdp
+
+//─── PARAMETERS ──────────────────────────────────────────────────────────────
+const int K = 1000; // # of sub‐steps per move
+const double p = 0.7; // nominal success prob.
+const double e = 0.01; // uncertainty radius
+
+//─── STATE ────────────────────────────────────────────────────────────────────
+module graph_imdp
+ s : [0..14] init 0; // which node
+ step : [0..K] init 0; // progress along chosen edge
+
+ //───────────────────────────────────────────────────────────────────────────
+ // EAST moves (horizontal rightwards)
+ //────────── sub‐steps ─────────────────────────────────────────────────────
+ [east] (step < K) & (s=0|s=3|s=4|s=8|s=11|s=12)
+ -> 1 : (step' = step + 1);
+
+ //────────── final jump ─────────────────────────────────────────────────────
+ [east] (step = K) & (s=0)
+ -> [p-e, p+e]:(s'=1)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=0)&(step'=step);
+ [east] (step = K) & (s=2)
+ -> [p-2*e, p+2*e]:(s'=1)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=0)&(step'=step);
+ [east] (step = K) & (s=3)
+ -> [p-e, p+e]:(s'=2)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=3)&(step'=step);
+ [east] (step = K) & (s=4)
+ -> [p-e, p+e]:(s'=5)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=4)&(step'=step);
+ [east] (step = K) & (s=8)
+ -> [p-e, p+e]:(s'=9)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=8)&(step'=step);
+ [east] (step = K) & (s=11)
+ -> [p-e, p+e]:(s'=12)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=11)&(step'=step);
+ [east] (step = K) & (s=12)
+ -> [p-e, p+e]:(s'=13)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=12)&(step'=step);
+ [east] (step = K) & (s=13)
+ -> [p-e, p+e]:(s'=14)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=13)&(step'=step);
+
+ //───────────────────────────────────────────────────────────────────────────
+ // SOUTH moves (vertical downwards)
+ [south] (step < K) & (s=0|s=1|s=2|s=3|s=4|s=5|s=6|s=7|s=8|s=9)
+ -> 1 : (step' = step + 1);
+
+ [south] (step = K) & (s=0)
+ -> [p-e, p+e]:(s'=3)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=0)&(step'=step);
+ [south] (step = K) & (s=1)
+ -> [p-e, p+e]:(s'=2)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=1)&(step'=step);
+ [south] (step = K) & (s=2)
+ -> [p-e, p+e]:(s'=5)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=2)&(step'=step);
+ [south] (step = K) & (s=3)
+ -> [p-e, p+e]:(s'=4)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=3)&(step'=step);
+ [south] (step = K) & (s=4)
+ -> [p-e, p+e]:(s'=8)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=4)&(step'=step);
+ [south] (step = K) & (s=5)
+ -> [p-e, p+e]:(s'=9)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=5)&(step'=step);
+ [south] (step = K) & (s=6)
+ -> [p-2*e, p+2*e]:(s'=7)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=6)&(step'=step);
+ [south] (step = K) & (s=7)
+ -> [p-2*e, p+2*e]:(s'=10)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=7)&(step'=step);
+ [south] (step = K) & (s=8)
+ -> [p-e, p+e]:(s'=11)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=8)&(step'=step);
+ [south] (step = K) & (s=9)
+ -> [p-e, p+e]:(s'=12)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=9)&(step'=step);
+
+ //───────────────────────────────────────────────────────────────────────────
+ // WEST moves (horizontal leftwards)
+ [west] (step < K) & (s=7)
+ -> 1 : (step' = step + 1);
+ [west] (step = K) & (s=7)
+ -> [p-2*e, p+2*e]:(s'=5)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=7)&(step'=step);
+
+ [west] (step < K) & (s=10)
+ -> 1 : (step' = step + 1);
+ [west] (step = K) & (s=10)
+ -> [p-2*e, p+2*e]:(s'=9)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=10)&(step'=step);
+
+ //───────────────────────────────────────────────────────────────────────────
+ // EXIT moves (diagonal/termination from 10→14)
+ [exit] (step < K) & (s=10)
+ -> 1 : (step' = step + 1);
+ [exit] (step = K) & (s=10)
+ -> [p-2*e, p+2*e]:(s'=14)&(step'=0)
+ + [1-p-2*e, 1-p+2*e]:(s'=10)&(step'=step);
+ [exit] (step < K) & (s=13)
+ -> 1 : (step' = step + 1);
+ [exit] (step = K) & (s=13)
+ -> [p-e, p+e]:(s'=14)&(step'=0)
+ + [1-p-e, 1-p+e]:(s'=13)&(step'=step);
+
+ // state 14 has no outgoing moves
+ [done] s = 14 & step = 0 -> true;
+endmodule
+
+
+label "goal" = (s = 14 & step = 0);
+
+rewards
+ [east] true : 1;
+ [west] true : 1;
+ [south] true : 1;
+endrewards
diff --git a/wp.prism b/wp.prism
new file mode 100644
index 0000000000..f2985ad7f3
--- /dev/null
+++ b/wp.prism
@@ -0,0 +1,41 @@
+mdp
+const int N=5; // N*N grid map
+const double p=0.1; // with probability p, a move to a neighboring state state occurs due to seeing and control noise
+const double e = 0.02;
+
+formula wall = (r=6 & c=2) | (r=8 & c=1) | (r=4 & c=1) | (r=5 & c=2) | (r=7 & c=1) | (r=8 & c=3) | (r=9 & c=2) | (r=9 & c=1) | (r=4 & c=4) | (r=7 & c=6) | (r=9 & c=5) | (r=3 & c=5) | (r=6 & c=4) | (r=7 & c=2) | (r=5 & c=9) | (r=8 & c=9);
+
+module robot
+ //define robot position
+ r:[1..N] init 1; //grid row
+ c:[1..N] init 1; //grid column
+
+ // go to the terminal state when hitting an obstacle
+ // [obstacle] wall -> (r'=10) & (c'=1);
+
+ // transitions
+ [east] (c [p/3-e,p/3+e]:(r'=min(r+1, N))+ [p/3-e,p/3+e]: (c'=max(c-1, 1))+ [p/3-e,p/3+e]: (r'=max(r-1, 1)) + [1-p-e,1-p+e]: (c'=min(c+1, N));
+ [south] (r [1-p-e,1-p+e]:(r'=min(r+1, N)) + [p/3-e,p/3+e]: (c'=min(c+1, N)) + [p/3-e,p/3+e]:(r'=max(r-1, 1))+ [p/3-e,p/3+e]: (c'=max(c-1, 1));
+ [west] (c>1 | c=1) -> [p/3-e,p/3+e]:(r'=max(r-1, 1))+ [p/3-e,p/3+e]:(r'=min(r+1, N))+ [p/3-e,p/3+e]: (c'=min(c+1, N)) + [1-p-e,1-p+e]: (c'=max(c-1, 1));
+ [north] (r=1 | r>1) -> [1-p-e,1-p+e]:(r'=max(r-1, 1)) + [p/3-e,p/3+e]: (c'=max(c-1, 1)) + [p/3-e,p/3+e]: (c'=min(c+1, N)) + [p/3-e,p/3+e]:(r'=min(r+1, N));
+
+ // terminal state self-loop to avoid deadlock
+ [done] r=10 & c=1 -> true;
+
+endmodule
+
+label "goal" = r=10 & c=1;
+
+label "obs" = (r=6 & c=2) | (r=8 & c=1) | (r=4 & c=1) | (r=5 & c=2) | (r=7 & c=1) | (r=8 & c=3) | (r=9 & c=2) | (r=9 & c=1) | (r=4 & c=4) | (r=7 & c=6) | (r=9 & c=5) | (r=3 & c=5) | (r=6 & c=4) | (r=7 & c=2) | (r=5 & c=9) | (r=8 & c=9);
+
+rewards
+ [east] !wall : 1;
+ [south] !wall : 1;
+ [west] !wall : 1;
+ [north] !wall : 1;
+
+ [east] wall : 20;
+ [south] wall : 20;
+ [west] wall : 20;
+ [north] wall : 20;
+endrewards