Rover Configurations

#Frame maze.environment.frame.height=700 maze.environment.frame.width=700 #Cell maze.environment.cell.width=25 #Grid maze.environment.grid.color=lightGray #Wall - x,y,width,height #NorthwestWall maze.environment.num.walls=24 maze.environment.wall.definitions.0=125,100,75,75,brown maze.environment.wall.definitions.1=100,125,25,25,darkBrown maze.environment.wall.definitions.2=150,75,25,25,darkBrown maze.environment.wall.definitions.3=200,125,25,25,darkBrown maze.environment.wall.definitions.4=150,175,25,25,brown maze.environment.wall.definitions.5=175,150,25,25,darkBrown #SouthWestWall maze.environment.wall.definitions.6=425,400,75,75,brown maze.environment.wall.definitions.7=400,425,25,25,darkBrown maze.environment.wall.definitions.8=450,375,25,25,darkBrown maze.environment.wall.definitions.9=500,425,25,25,darkBrown maze.environment.wall.definitions.10=450,475,25,25,darkBrown maze.environment.wall.definitions.11=475,450,25,25,darkBrown #NorthEastRidge maze.environment.wall.definitions.12=400,0,300,25,darkBrown maze.environment.wall.definitions.13=500,25,200,25,darkBrown #linkRidge maze.environment.wall.definitions.14=0,275,25,25,brown maze.environment.wall.definitions.15=25,250,50,25,brown maze.environment.wall.definitions.16=50,225,50,25,brown maze.environment.wall.definitions.17=75,200,75,25,brown #cutOffMountains maze.environment.wall.definitions.18=525,425,175,25,darkBrown maze.environment.wall.definitions.19=525,375,25,25,darkBrown maze.environment.wall.definitions.20=550,350,50,25,brown maze.environment.wall.definitions.21=525,375,50,25,brown maze.environment.wall.definitions.22=525,375,25,25,brown maze.environment.wall.definitions.23=600,325,100,50,brown #Start maze.environment.starting.position.color=darkGreen #Destination maze.environment.destination.color=lavendar maze.environment.destination.position=650,375 #Robot maze.environment.robot.position=525,100 maze.environment.robot.color=black #Window - keep consistent with Frame parameters maze.environment.window.width=700 #Animation maze.environment.animation.number.positions=6 maze.environment.animation.position.0=75,80 maze.environment.animation.position.1=150,150 maze.environment.animation.position.2=300,450 maze.environment.animation.position.3=350,350 maze.environment.animation.position.4=450,525 maze.environment.animation.position.5=600,600 maze.environment.animation.pace.delay=42 maze.environment.animation.step.size=1 #Lidar mars.rover.lidar.color=green mars.rover.lidar.scan.delay=100 mars.rover.lidar.lifeSpan=1000 mars.rover.lidar.powerConsumption=50 #Surface mars.surface.color=marsSurfaceRed #Spectrometer mars.rover.spectrometer.scan.delay=2000 mars.rover.spectrometer.scan.color=spectrometerScanColor mars.rover.spectrometer.lifeSpan=1000 mars.rover.spectrometer.powerConsumption=150 mars.rover.spectrometer.numWaterCells=2 #Power mars.rover.battery.alertThreshold=100 mars.rover.battery.rechargeTime=60000 mars.rover.battery.lifeSpan=1000 mars.rover.battery.auxiliaryPowerUnits=200 mars.rover.battery.primaryPowerUnits=1000 #Radio mars.rover.communication.radio.animation.delay=150 mars.rover.radio.check.pulse=500 mars.rover.radio.lifeSpan=10000 mars.rover.radio.powerConsumption=10 #Camera mars.rover.camera.shutterSpeed=150 mars.rover.camera.number.images=4 mars.rover.camera.number.image.caches=3 mars.rover.camera.image.0=50,50 mars.rover.camera.image.1=100,175 mars.rover.camera.image.2=200,200 mars.rover.camera.lifeSpan=1000 mars.rover.camera.powerConsumption=120 #Propulsion - note powerConsumption is per unit moved. mars.rover.propulsion.powerConsumption=10 #Telemetry note frequency is in ms mars.rover.propulsion.telemetry.compressionFactor=10 mars.rover.propulsion.telemetry.distanceScale=10 #Diagnostics mars.rover.heartbeat.pulse=60 mars.rover.heartbeat.duration=668.599 mars.rover.sleepAfterTime.seconds=120 mars.rover.sleepForMax.minutes=6 mars.rover.sleepMode.duration=6

rlEngine parameters

mars.rover.rlEngine.discountRate=0.6d mars.rover.rlEngine.stepSize=0.99d

Note minReward and maxReward should be of same absolute magnitude

mars.rover.rlEngine.minReward=-10 mars.rover.rlEngine.maxReward=10 mars.rover.rlEngine.normalReward=3 mars.rover.rlEngine.maxIterations=100 #Radar mars.rover.radar.oldRovers.color=purple mars.rover.radar.scan.circle.color=black mars.rover.radar.scan.contact.color=green mars.rover.radar.blip.sound=false mars.rover.radar.numberOfRevelutions=2 mars.rover.radar.laser.color=green mars.rover.radar.contact.ping.delay=2000 mars.rover.radar.scaleFactor=1.0d mars.rover.radarContact.scaleFactor=0.5d mars.rover.radar.lifeSpan=1000 mars.rover.radar.numPrevUnits=6 mars.rover.radar.prev.rover.0=250,250 mars.rover.radar.prev.rover.1=200,300 mars.rover.radar.prev.rover.2=225,300 mars.rover.radar.prev.rover.3=150,450 mars.rover.radar.prev.rover.4=500,200 mars.rover.radar.prev.rover.5=600,600