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Commit 1749ca3e authored by Brutzman, Don's avatar Brutzman, Don

updated session with complete breadth-first search, fully successful, both...

updated session with complete breadth-first search, fully successful, both manual and computed algorithm
parent ad11c41b
;This code written in ANSI Common Lisp, Allegro 10.1 enhancement, from Franz, Inc., by
;Prof. Robert B. McGhee (robertbmcghee@gmail.com) at the Naval Postgraduate School,
; , CA 93943. Date of latest update: 9 June 2020.
; , CA 93943. Date of latest update: 11 June 2020.
;The mission coded below is taken from Fig. 7, pg. 434, in "Ethical Mission Definition
;and Execution for Maritime Robots Under Human Supervision", IEEE Journal of Oceanic
......@@ -177,7 +177,9 @@
(defun start ()
(setf *current-paths-to-goal* nil)
(start1))
(start1)
(start-all)
'ready)
(defun run1 ()
(start1)
......@@ -317,5 +319,3 @@
(defun results ()
(pprint (all-paths-to-goal agent2)))
......@@ -240,4 +240,58 @@ Proceed to recovery!
((X X) (X F) (X S) (F X X) (F X F) (F X S) (F F X) (F F F) (F F S) (F S X) (F S F) (F S S)
(S X X) (S X F) (S X S) (S F) (S S X X) (S S X F) (S S X S) (S S F X) (S S F F) (S S F S)
(S S S X) (S S S F) (S S S S))
CG-USER(29):
\ No newline at end of file
CG-USER(29): CG-USER(29): (all-paths)
DONE
CG-USER(30): (results)
((PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Success." PHASE3
"Search Area B!" "Exception." PHASE4 "Rendezvous with Vehicle2!" "Exception." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Success." PHASE3
"Search Area B!" "Exception." PHASE4 "Rendezvous with Vehicle2!" "Failure." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Success." PHASE3
"Search Area B!" "Exception." PHASE4 "Rendezvous with Vehicle2!" "Success." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Success." PHASE3
"Search Area B!" "Failure." PHASE4 "Rendezvous with Vehicle2!" "Exception." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Success." PHASE3
"Search Area B!" "Failure." PHASE4 "Rendezvous with Vehicle2!" "Failure." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Success." PHASE3
"Search Area B!" "Failure." PHASE4 "Rendezvous with Vehicle2!" "Success." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Success." PHASE3
"Search Area B!" "Success." PHASE4 "Rendezvous with Vehicle2!" "Exception." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Success." PHASE3
"Search Area B!" "Success." PHASE4 "Rendezvous with Vehicle2!" "Failure." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Success." PHASE3
"Search Area B!" "Success." PHASE4 "Rendezvous with Vehicle2!" "Success." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Exception." PHASE4
"Rendezvous with Vehicle2!" "Exception." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Exception." PHASE4
"Rendezvous with Vehicle2!" "Failure." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Exception." PHASE4
"Rendezvous with Vehicle2!" "Success." PHASE5)
(PHASE1 "Search Area A!" "Failure." PHASE3 "Search Area B!" "Exception." PHASE4
"Rendezvous with Vehicle2!" "Exception." PHASE5)
(PHASE1 "Search Area A!" "Failure." PHASE3 "Search Area B!" "Exception." PHASE4
"Rendezvous with Vehicle2!" "Failure." PHASE5)
(PHASE1 "Search Area A!" "Failure." PHASE3 "Search Area B!" "Exception." PHASE4
"Rendezvous with Vehicle2!" "Success." PHASE5)
(PHASE1 "Search Area A!" "Failure." PHASE3 "Search Area B!" "Failure." PHASE4
"Rendezvous with Vehicle2!" "Exception." PHASE5)
(PHASE1 "Search Area A!" "Failure." PHASE3 "Search Area B!" "Failure." PHASE4
"Rendezvous with Vehicle2!" "Failure." PHASE5)
(PHASE1 "Search Area A!" "Failure." PHASE3 "Search Area B!" "Failure." PHASE4
"Rendezvous with Vehicle2!" "Success." PHASE5)
(PHASE1 "Search Area A!" "Failure." PHASE3 "Search Area B!" "Success." PHASE4
"Rendezvous with Vehicle2!" "Exception." PHASE5)
(PHASE1 "Search Area A!" "Failure." PHASE3 "Search Area B!" "Success." PHASE4
"Rendezvous with Vehicle2!" "Failure." PHASE5)
(PHASE1 "Search Area A!" "Failure." PHASE3 "Search Area B!" "Success." PHASE4
"Rendezvous with Vehicle2!" "Success." PHASE5)
(PHASE1 "Search Area A!" "Success." PHASE2 "Sample environment!" "Failure." PHASE5)
(PHASE1 "Search Area A!" "Exception." PHASE4 "Rendezvous with Vehicle2!" "Exception."
PHASE5)
(PHASE1 "Search Area A!" "Exception." PHASE4 "Rendezvous with Vehicle2!" "Failure."
PHASE5)
(PHASE1 "Search Area A!" "Exception." PHASE4 "Rendezvous with Vehicle2!" "Success."
PHASE5))
CG-USER(31):
\ No newline at end of file
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