This file has the main method. It also has the class RandomModelGenerator, which can output a mdp model of the random robot. Running this file will output one such model. Within the main method are variables allowing one to set:

• Map width
• Map height
• Number of possible angles
• Movement speed
• Coverage Tracker

This file contains the GridMovementApproximation class. This is used to help approximate movement at arbitrary angles along a Cartesian grid. It can be used to determine the rounded movement at a certain angle, the path to get there, and to generate functions on if that movement is possible. This file also has a main method that can be used to help debug this class.

This file contains the LabelGenerator class, which can be used to generate labels detailing if a specific path is possible. It also stores global variables for how the following 4 variables are named:

• x: the name of the state list for the robot's x position

• y: the name of the state list for the robot's y position

• w: the name of the variable with map width

• h: the name of the variable with map height It also has a main method that can be used to debug label generation.

This file contains the SnakeModelGenerator class which inherits from GridMovementApproximation class. Running this file will give an implementation of the snake algorithm we discussed with an arbitrary number of angles/obstacles. The subclass introduces a new variable:

• Goal Speed: the speed at which the robot approaches the goal before it turns to "snake"

This file contains the SpiralModelGenerator class which inherits from GridMovementApproximation class. Running this file will give an implementation of the spiral algorithm we discussed. Spiral is attempted until an object is hit, then proceeds in random mode before spiralling again. The subclass introduces new variables:

• mode: Boolean variable that represents whether the robot is in spiral or random mode
• spiral: the step in the pre-determined spiral pattern that the robot is on
• diameter: based on the robot's distance from start of spiral

This script is used to generate paths using the PRISM command line with extended RAM. Within the script, make sure to set PRISM_DIR to the correct value. Additionally, for large models you may need to further expand the RAM PRISM is run with.

Usage: path_generator.bat [map_number] [step_count] [output_file]

This is the helper that creates coverage tracking functionality for a given map.

Usage example: tracker = CoverageTracker(map) model = RandomModelGenerator(map, num_angles=25, move_speed=10, tracker=tracker)