$BENCH_HOME/bin/storm-pomdp --prism $BENCH_HOME/models/rover/rover.prism --prop $BENCH_HOME/models/rover/rover.props rbrmax3 -const B1=200,B2=360,B3=200 --timemem --statistics --revised --reward-aware --belief-exploration discretize --resolution 15 --triangulationmode static
Storm-pomdp. Sequential approach, cost aware, with discretization and resolution 15
Storm-POMDP 1.9.1 (dev)
Date: Mon Feb 10 14:43:25 2025
Command line arguments: --prism $BENCH_HOME/models/rover/rover.prism --prop $BENCH_HOME/models/rover/rover.props rbrmax3 -const 'B1=200,B2=360,B3=200' --timemem --statistics --revised --reward-aware --belief-exploration discretize --resolution 15 --triangulationmode static
Current working directory: $BENCH_HOME/experiments64gb
Time for model input parsing: 0.002s.
Time for model construction: 0.008s.
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Model type: POMDP (sparse)
States: 16
Transitions: 30
Choices: 20
Observations: 9
Reward Models: value, time, energy
State Labels: 3 labels
* deadlock -> 0 item(s)
* init -> 1 item(s)
* done -> 1 item(s)
Choice Labels: 6 labels
* done -> 2 item(s)
* task_done -> 14 item(s)
* task1_start -> 1 item(s)
* task2_start -> 1 item(s)
* task4_start -> 1 item(s)
* task3_start -> 1 item(s)
--------------------------------------------------------------
Analyzing property 'Pmax=? [true U^{rew{"value"}>=200 , rew{"time"}<=360 , rew{"energy"}<=200 }(done)]'
Extend observation function to become reward aware.
bounded reachability processing done. POMDP Information:
--------------------------------------------------------------
Model type: POMDP (sparse)
States: 29
Transitions: 225
Choices: 85
Observations: 26
Reward Models: value, time, energy
State Labels: 3 labels
* done -> 1 item(s)
* deadlock -> 0 item(s)
* init -> 1 item(s)
Choice Labels: 6 labels
* task3_start -> 14 item(s)
* task4_start -> 14 item(s)
* task2_start -> 14 item(s)
* task1_start -> 14 item(s)
* task_done -> 14 item(s)
* done -> 15 item(s)
--------------------------------------------------------------
Transformed formula: Pmax=? [true U^{rew{"value"}>=200 , rew{"time"}<=360 , rew{"energy"}<=200 }(done)]
Time for pre-processing: 0.000s.
Exploring the belief MDP...
Exploring the belief space...
Constructing the belief MDP...
--------------------------------------------------------------
Model type: MDP (sparse)
States: 25
Transitions: 160
Choices: 81
Reward Models: energy, time, value
State Labels: 3 labels
* target -> 1 item(s)
* init -> 1 item(s)
* bottom -> 1 item(s)
Choice Labels: none
--------------------------------------------------------------
Analyzing property 'Pmax=? [true U^{rew{"value"}>=200 , rew{"time"}<=360 , rew{"energy"}<=200 }"target"]' on the belief MDP...
Transformation of transition rewards resulted in a model with 38 states. 1.52 times more states than the original belief MDP.
Merging of sink states resulted in a model with 37 states.
Epoch model for epoch <0, _, _> is cyclic.
---------------------------------
Statistics:
---------------------------------
#checked epochs: 710046.
overall Time: 12.583s.
Epoch Model building Time: 2.953s.
Epoch Model checking Time: 2.808s.
---------------------------------
Time for exploring beliefs: 0.000s.
Time for building the belief MDP: 0.000s.
Time for analyzing the belief MDP: 14.168s.
##### POMDP Approximation Statistics ######
# Input model:
--------------------------------------------------------------
Model type: POMDP (sparse)
States: 29
Transitions: 225
Choices: 85
Observations: 26
Reward Models: value, time, energy
State Labels: 3 labels
* done -> 1 item(s)
* deadlock -> 0 item(s)
* init -> 1 item(s)
Choice Labels: 6 labels
* task3_start -> 14 item(s)
* task4_start -> 14 item(s)
* task2_start -> 14 item(s)
* task1_start -> 14 item(s)
* task_done -> 14 item(s)
* done -> 15 item(s)
--------------------------------------------------------------
# Max. Number of states with same observation: 2
# Total check time: 14.169s
##########################################
Result: ≤ 0.8609527907
Time for POMDP analysis: 14.169s.
Performance statistics:
* peak memory usage: 76MB
* CPU time: 14.136s
* wallclock time: 14.198s
############################## Notes ##############################
Storm-pomdp. Sequential approach, cost aware, with discretization and resolution 15