verification2-avoid.xml

<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE nta PUBLIC '-//Uppaal Team//DTD Flat System 1.1//EN' 'http://www.it.uu.se/research/group/darts/uppaal/flat-1_2.dtd'>
<nta>
	<declaration>// Place global declarations here.
typedef struct
{
    int w;
    int heading;
}RotationalState;

typedef struct
{
    int acc;
    int speed;
}LinearState;

typedef struct
{
    int x;
    int y;
}Point;

const int PM = 1; //period of movement
const int PC = 2; //period of control
const int PS = 3; //period of sensing

const int PI = 3142;
const int ANGLESCALE = 1000; //1 radian=1000 miliradian
const int POSITIONSCALE = 10; //1m = 10*10cm

const int AVVECTOR = 1;
const int POSITIONID = 0;
const int AVSCALAR = 4;
const int WID = 0;
const int HEADID = 1;
const int ACCID = 2;
const int SPEEDID = 3;
const int CONSTRATE = -1;

const int SPACEDIMENSION = 2;
const int X = 0;
const int Y = 1;
const int NOTDIMENSIONAL = -1;
//Max number of moving obstacles
const int NUMOBS = 2;
const int ACTUALOBS = 1;
const int NUMAV = 1;
//const int INITOBS[NUMOBS][AVDIMENSION] = {{0,0,0,0,0}};
//MAX: time unit - 500ms = 0.5s
const int MAXSCALAR[AVSCALAR] = {393, //w:PI/-PI in 4s = 393 miliradian/500ms
                                 PI,  //heading: PI miliradian
                                 7,   //acc: to 20km/h:4s
                                 8};  //speed: 20000m*10cm/60*60*2 (20km/h)
const int MAXVECTOR[AVVECTOR][SPACEDIMENSION] = {{100*POSITIONSCALE}, {100*POSITIONSCALE}}; //position: 3000(10cm) * 10 = 3000m
//MAX OBS: time unit - 500ms = 0.5s
const int MAXSCALAROBS[NUMOBS][AVSCALAR] = {{393, //w:PI/-PI in 4s = 393 miliradian/500ms
                                             PI,  //heading: PI miliradian
                                             7,   //acc: to 20km/h:4s
                                             5},
                                            {393, //w:PI/-PI in 4s = 393 miliradian/500ms
                                             PI,  //heading: PI miliradian
                                             7,   //acc: to 20km/h:4s
                                             5}};  //speed: 20000m*10cm/60*60*2 (20km/h)
const int MAXVECTOROBS[NUMOBS][AVVECTOR][SPACEDIMENSION] = {{{100*POSITIONSCALE}, {100*POSITIONSCALE}},{{100*POSITIONSCALE}, {100*POSITIONSCALE}}}; //position: 3000(10cm) * 10 = 3000m
                             
//MIN: time unit - 500ms = 0.5s
const int MINSCALAR[AVSCALAR] = {-393, //w:PI/-PI in 4s
                                 -PI,  //heading: -PI/2 miliradian
                                 -10,  //acc: from 20km/h:3s
                                 0};    //speed: 0
const int MINVECTOR[AVVECTOR][SPACEDIMENSION] = {{0},{0}};   //position:0
//MIN: time unit - 500ms = 0.5s
const int MINSCALAROBS[NUMOBS][AVSCALAR] = {{-393, //w:PI/-PI in 4s
                                             -PI,  //heading: -PI/2 miliradian
                                             -10,  //acc: from 20km/h:3s
                                             5},
                                            {-393, //w:PI/-PI in 4s
                                             -PI,  //heading: -PI/2 miliradian
                                             -10,  //acc: from 20km/h:3s
                                             5}};    //speed: 0
const int MINVECTOROBS[NUMOBS][AVVECTOR][SPACEDIMENSION] = {{{0},{0}},{{0},{0}}};   //position:0
//const int AVNORMALSPEED = MAXSCALAR[SPEEDID]/2;
//INIT
const int INITSCALAR[AVSCALAR] = {0,PI/4,MAXSCALAR[ACCID],MAXSCALAR[SPEEDID]};
const int INITVECTOR[AVVECTOR][SPACEDIMENSION] = {{0},{0}};

const int VIEWRADIUS = MAXSCALAROBS[0][SPEEDID]*PS*2;
const int FARRADIUS = MAXSCALAROBS[0][SPEEDID]*PS*3;
//width of the safe region
int widthSafeRegion = 8;

const int NUMSTATICOBSS = 1;
const int NUMSTATICOBSVERDICES = 4;
const Point staticObsVerdices[NUMSTATICOBSVERDICES] = {{2,2},{2,5},{9,5},{9,2}};

const int NUMWAYPOINTS = 5;
const int LENGTHPATH = NUMWAYPOINTS + 1;
const int WAYPOINTS[NUMWAYPOINTS][SPACEDIMENSION]={{2*POSITIONSCALE,2*POSITIONSCALE},{5*POSITIONSCALE,0*POSITIONSCALE},{8*POSITIONSCALE,5*POSITIONSCALE},
                                                   {10*POSITIONSCALE,8*POSITIONSCALE},{12*POSITIONSCALE,15*POSITIONSCALE}};
const Point avpath[LENGTHPATH] = {{INITVECTOR[POSITIONID][X],INITVECTOR[POSITIONID][Y]},{WAYPOINTS[0][X],WAYPOINTS[0][Y]},{WAYPOINTS[1][X],WAYPOINTS[1][Y]},
                                  {WAYPOINTS[2][X],WAYPOINTS[2][Y]},{WAYPOINTS[3][X],WAYPOINTS[3][Y]},{WAYPOINTS[4][X],WAYPOINTS[4][Y]}};

const int UNKNOWN = 0;
const int MOVING = 1;     //move straightly
const int TURNING = 2;    //turn direction
const int ARRIVING = 3;    //arriving
const int AVOIDING = 4;

const int VINIT = 1;
const int GINIT = 2;
const int CRITICALLENGTH = 2;

const int STEPPOS = 50;
//const int STEPACC = 5;
const int STEPSPEED = 10;
const int STEPW = 393;
const int STEPHEAD = 393;
const int PTS = 5;
const int PTE = 20;

import "FM2021/lib/lib.so" {
    int getProjection(int value, int angle, int axis);
    int getAngle(int sX, int sY, int eX, int eY, int scale);
    int getDisPointToLine(int px, int py, int sx, int sy, int ex, int ey);
    int getDisPointToPoint(int x1, int y1, int x2, int y2);
    int getValidRange(int length, int angle, int scale);

    void collisionAvoidance(int obsNum, int &amp;appeared[ACTUALOBS], int staticObsNum, Point &amp;staticObsVerdices[NUMSTATICOBSVERDICES], int &amp;probe[1], Point &amp;obsPosition[ACTUALOBS], RotationalState &amp;rotationalObsStates[ACTUALOBS], LinearState &amp;linearObsStates[ACTUALOBS], 
    Point &amp;avPosition[NUMAV], RotationalState &amp;rotationalAVStates[NUMAV], LinearState &amp;linearAVStates[NUMAV], Point &amp;goalPosition[NUMAV], 
    Point &amp;path[2], int pathLen, RotationalState &amp;rotationalGoalStates[NUMAV], LinearState &amp;linearGoalStates[NUMAV]);
};
//int obsNum = 0;
int waypointsIndex = 0;
//GOAL
int goalScalar[AVSCALAR] = {MAXSCALAR[WID],PI/4,MAXSCALAR[ACCID],MAXSCALAR[SPEEDID]};
int goalVector[AVVECTOR][SPACEDIMENSION] = {{MAXVECTOR[POSITIONID][X]},{MAXVECTOR[POSITIONID][Y]}};
//int goalProjection[AVDIMENSION][SPACEDIMENSION];
//variables of the autonomous vehicle
int avScalarVariables[AVSCALAR] = {INITSCALAR[WID],INITSCALAR[HEADID],INITSCALAR[ACCID],INITSCALAR[SPEEDID]};
int avVectorVariables[AVVECTOR][SPACEDIMENSION] = {{INITVECTOR[POSITIONID][X]},{INITVECTOR[POSITIONID][Y]}};
//int criticalIndex = 0;
//int criticalSegment[CRITICALLENGTH][SPACEDIMENSION] = {{0,0},{0,0}};
//bool avStop = false;
bool collided = false;
int appeared[ACTUALOBS] = {0};
//variables of the moving obstacles
int obsScalarVariables[ACTUALOBS][AVSCALAR];
int obsVectorVariables[ACTUALOBS][AVVECTOR][SPACEDIMENSION];
int minOut[SPACEDIMENSION], minIn[SPACEDIMENSION], maxOut[SPACEDIMENSION], maxIn[SPACEDIMENSION];
//channels
chan obsLeft;
broadcast chan start, stop, invoke, proceed, stay, change, obsGo[ACTUALOBS];

clock time;

int distance;
bool isCollide(int obsID)
{
    distance = MAXVECTOR[POSITIONID][X];

    if(appeared[obsID])
    {
        distance = getDisPointToPoint(obsVectorVariables[obsID][POSITIONID][X], obsVectorVariables[obsID][POSITIONID][Y], 
                          avVectorVariables[POSITIONID][X], avVectorVariables[POSITIONID][Y]);
        /*distance = getDisPointToLine(obsVectorVariables[obsID][POSITIONID][X], obsVectorVariables[obsID][POSITIONID][Y],
                          criticalSegment[0][X],criticalSegment[0][Y],criticalSegment[1][X],criticalSegment[1][Y]);*/
        if(distance &lt; widthSafeRegion)
        {
            return true;
        }
    }
    else
    {
        return false;
    }

    return false;
}

bool hitWall()
{
    int i = 0;
    bool hit = false;

    for(i = 0; i &lt; SPACEDIMENSION; i++)
    {
        hit = (avVectorVariables[POSITIONID][i]==MAXVECTOR[POSITIONID][i]) || (avVectorVariables[POSITIONID][i]==MINVECTOR[POSITIONID][i]);
        if(hit)return hit;
    }
    
    return hit;
}

</declaration>
	<template>
		<name x="5" y="5">AVVariable</name>
		<parameter>const int VID, const int RATEID, const int SPACEID</parameter>
		<declaration>void update()
{
    int rateValue = 0, overshoot = 0, direction = 0;
    int currentAngle = avScalarVariables[HEADID];
    //rateValue = 0;overshoot = 0;direction = 0;
    //if the variable does not change at a constant rate: speed, position, heading
    //its rate refers to the corresponding variable
    if(RATEID != CONSTRATE)
    {
        rateValue = avScalarVariables[RATEID];
    }
    //if the variable changes at a constant rate: acceleration, angular speed
    //its rate is the difference between its current value and its goal
    //which means it goes to its goal value in one time unit
    else
    {
        rateValue = goalScalar[VID] - avScalarVariables[VID];
    }
    //if the rate is not zero, we calculate the variable's changing direction: +1/-1
    if(rateValue != 0)
    {
        direction = rateValue/abs(rateValue);
    }
    //if the variable is dimensional: position
    //its changing rate is projected to the corresponding axies
    if(SPACEID != NOTDIMENSIONAL)
    {
        rateValue = getProjection(rateValue, currentAngle, SPACEID);
        avVectorVariables[VID][SPACEID] += rateValue;
        if(avVectorVariables[VID][SPACEID] &gt; MAXVECTOR[VID][SPACEID])
        {
            avVectorVariables[VID][SPACEID] = MAXVECTOR[VID][SPACEID];
        }
        else if(avVectorVariables[VID][SPACEID] &lt; MINVECTOR[VID][SPACEID])
        {
            avVectorVariables[VID][SPACEID] = MINVECTOR[VID][SPACEID];
        }
        //criticalSegment[criticalIndex][SPACEID] = avVectorVariables[VID][SPACEID];
        /*overshoot = direction * (goalVector[VID][SPACEID] - avVectorVariables[VID][SPACEID]);
        if(overshoot &lt; 0)
        {
            avVectorVariables[VID][SPACEID] = goalVector[VID][SPACEID];
        }*/
    }
    else
    {
        avScalarVariables[VID] += rateValue;
        overshoot = direction * (goalScalar[VID] - avScalarVariables[VID]);
        if(overshoot &lt; 0)
        {
            avScalarVariables[VID] = goalScalar[VID];
        }
        if(RATEID != CONSTRATE &amp;&amp; goalScalar[VID] == avScalarVariables[VID])
        {
            rateValue = avScalarVariables[RATEID];
            avScalarVariables[RATEID] = 0;
            goalScalar[RATEID] = 0;
        }
    }
    //the variable overshoots its goal value,
    //which means a negative value of goal minus current value times the direction means an overshooting, 
    // e.g., when the goal value is negative: -5, and the current value is -4 or -6:
    //e.g., -5 - (-4) = -1, (-1)*(-1)=1 (no overshoot);
    //but, -5 - (-6) = +1, 1*(-1) = -1 (overshoot)
    //or when the goal value is positive: 5, and the current value is 4 or 6:
    //e.g., 5 - 4 = 1, 1*1=1(no overshoot), 
    //but, 5 - 6 = -1, (-1)*1=-1(overshoot) 
}

bool reach()
{
    bool result = false;

    if(SPACEID != NOTDIMENSIONAL)
    {
        //result = (avVectorVariables[VID][SPACEID] == goalVector[VID][SPACEID]);
    }
    else
    {
        result = (avScalarVariables[VID] == goalScalar[VID]);
    }

    return result;
}
</declaration>
		<location id="id0" x="-127" y="-68">
			<name x="-203" y="-85">MOVING</name>
		</location>
		<location id="id1" x="51" y="-161">
			<name x="-8" y="-195">CONSTANT</name>
		</location>
		<location id="id2" x="-127" y="-161">
			<name x="-178" y="-195">CHANGING</name>
		</location>
		<location id="id3" x="-280" y="-161">
			<name x="-272" y="-195">WAIT</name>
		</location>
		<init ref="id3"/>
		<transition>
			<source ref="id1"/>
			<target ref="id2"/>
			<label kind="synchronisation" x="-68" y="-178">change?</label>
		</transition>
		<transition>
			<source ref="id0"/>
			<target ref="id1"/>
			<label kind="guard" x="-17" y="-102">reach()</label>
			<label kind="synchronisation" x="-17" y="-85">stay?</label>
			<nail x="51" y="-68"/>
		</transition>
		<transition>
			<source ref="id0"/>
			<target ref="id2"/>
			<label kind="guard" x="-68" y="-136">!reach()</label>
			<label kind="synchronisation" x="-68" y="-119">proceed?</label>
			<nail x="-50" y="-93"/>
			<nail x="-50" y="-135"/>
		</transition>
		<transition>
			<source ref="id2"/>
			<target ref="id0"/>
			<label kind="synchronisation" x="-186" y="-135">invoke?</label>
			<label kind="assignment" x="-195" y="-119">update()</label>
		</transition>
		<transition>
			<source ref="id3"/>
			<target ref="id2"/>
			<label kind="synchronisation" x="-229" y="-178">start?</label>
		</transition>
	</template>
	<template>
		<name>AVController</name>
		<declaration>clock timer;
int[0,4] status = UNKNOWN;
int[0,4] oldStatus = UNKNOWN;

void initialize()
{
    int i = 0;
    for(i = 0; i &lt; SPACEDIMENSION; i++)
    {
        goalVector[POSITIONID][i] = WAYPOINTS[waypointsIndex][i]; 
    }
}

int modify(Point obsPosition[ACTUALOBS], Point avPosition, int newHeading_v, int originalHeading)
{
    bool shouldModify = true;
    int modified = 0;
    int oldDistance = 0, newDistance = 0, obsNewHeading = 0, newHeading_l = 0;
    Point originalNewPosition, newPosition, obsNewPosition;
    int i = 0;
    modified = 0;
    newHeading_l = newHeading_v;

	newPosition.x = avPosition.x + getProjection(avScalarVariables[SPEEDID], newHeading_v, X);
	newPosition.y = avPosition.y + getProjection(avScalarVariables[SPEEDID], newHeading_v, Y);

	originalNewPosition.x = avPosition.x + getProjection(avScalarVariables[SPEEDID], originalHeading, X);
	originalNewPosition.y = avPosition.y + getProjection(avScalarVariables[SPEEDID], originalHeading, Y);
    
    for(i = 0; i&lt; ACTUALOBS; i++)
    {
        if(appeared[i] == 1)
        {
            obsNewHeading = obsScalarVariables[i][HEADID] + obsScalarVariables[i][WID];
	        obsNewPosition.x = obsPosition[i].x + getProjection(obsScalarVariables[i][SPEEDID], obsNewHeading, X);
	        obsNewPosition.y = obsPosition[i].y + getProjection(obsScalarVariables[i][SPEEDID], obsNewHeading, Y);
	        oldDistance = getDisPointToPoint(originalNewPosition.x, originalNewPosition.y, obsNewPosition.x, obsNewPosition.y);
	        newDistance = getDisPointToPoint(newPosition.x, newPosition.y, obsNewPosition.x, obsNewPosition.y);
            if (newDistance &lt; oldDistance)
	        {
                shouldModify &amp;= true;
            }
            else
            {
                shouldModify &amp;= false;
            }
        }
    }
    if(shouldModify)
    {
        modified = 1;
        //new position of AV
		newHeading_l = avScalarVariables[HEADID];	
        newPosition.x = avPosition.x + getProjection(avScalarVariables[SPEEDID], newHeading_l, X);
	    newPosition.y = avPosition.y + getProjection(avScalarVariables[SPEEDID], newHeading_l, Y);
        //new position of obs[0]
        obsNewHeading = obsScalarVariables[0][HEADID] + obsScalarVariables[0][WID];
	    obsNewPosition.x = obsPosition[0].x + getProjection(obsScalarVariables[0][SPEEDID], obsNewHeading, X);
	    obsNewPosition.y = obsPosition[0].y + getProjection(obsScalarVariables[0][SPEEDID], obsNewHeading, Y);
        //distances
	    oldDistance = getDisPointToPoint(avPosition.x, avPosition.y, obsNewPosition.x, obsNewPosition.y);
	    newDistance = getDisPointToPoint(newPosition.x, newPosition.y, obsNewPosition.x, obsNewPosition.y);
		while (newDistance &lt; oldDistance)
		{
            modified = 2;
			newHeading_l = newHeading_l - PI / 4;
			if (newHeading_l &lt; -PI)
			{
				newHeading_l = 2 * PI + newHeading_l;
			}
	        newPosition.x = avPosition.x + getProjection(avScalarVariables[SPEEDID], newHeading_l, X);
	        newPosition.y = avPosition.y + getProjection(avScalarVariables[SPEEDID], newHeading_l, Y);
		    newDistance = getDisPointToPoint(newPosition.x, newPosition.y, obsNewPosition.x, obsNewPosition.y);
            if(newHeading_l == avScalarVariables[HEADID])
            {
                 newDistance = oldDistance + 1;//for break out
            }
		}
    }

	return newHeading_l;
}

int deviate(int newDir)
{
    bool deviated = false;
    int i = 0, absObs = 0, absAV = 0, dirObs, dirAV, result = newDir;

    deviated = false;
    for(i = 0; i &lt; ACTUALOBS; i++)
    {
        if(appeared[i] == 1)
        {
            absAV = abs(avScalarVariables[HEADID]);
            absObs = abs(obsScalarVariables[i][HEADID]);
            if(absAV!=0 &amp;&amp; absObs!=0)
            {
                dirAV = avScalarVariables[HEADID]/absAV;
                dirObs = obsScalarVariables[i][HEADID]/absObs;
                if((absAV + absObs == PI) &amp;&amp; (dirAV * dirObs == -1))
                {
                    deviated = true;
			        result = avScalarVariables[HEADID] - PI / 4;
			        if (result &lt; -PI)
			        {
				        result = 2 * PI + result;
			        }
                }
            }
        }
    }

    return result;
}

void avoid()
{
    int probe[1];
    int newHeading = 0, angleToGoal = 0;
    int originalGoalHeading = 0;
    RotationalState rotationalGoalStates[NUMAV];
    int i = 0;
    Point staticObsVerdices_l[NUMSTATICOBSVERDICES] = staticObsVerdices;
    
    Point localPath[2];
    Point obsPosition[ACTUALOBS];
    RotationalState rotationalObsStates[ACTUALOBS];
    LinearState linearObsStates[ACTUALOBS];
	Point avPosition[NUMAV];
    RotationalState rotationalAVStates[NUMAV];
    LinearState linearAVStates[NUMAV];
    Point goalPositions[NUMAV];
    LinearState linearGoalStates[NUMAV];
    localPath[0] = avpath[waypointsIndex];
    localPath[1] = avpath[waypointsIndex+1];
    probe[0] = 0;

    for(i = 0; i &lt; ACTUALOBS; i++)
    {
        obsPosition[i].x = obsVectorVariables[i][POSITIONID][X];
        obsPosition[i].y = obsVectorVariables[i][POSITIONID][Y];
        rotationalObsStates[i].w = obsScalarVariables[i][WID];
        rotationalObsStates[i].heading = obsScalarVariables[i][HEADID];
        linearObsStates[i].acc = obsScalarVariables[i][ACCID];
        linearObsStates[i].speed = obsScalarVariables[i][SPEEDID];
        //obsStates[i].acc = 0;
        //obsStates[i].speed = 0;
    }
    
    avPosition[0].x = avVectorVariables[POSITIONID][X];
    avPosition[0].y = avVectorVariables[POSITIONID][Y];
    rotationalAVStates[0].w = avScalarVariables[WID];
    rotationalAVStates[0].heading = avScalarVariables[HEADID];
    linearAVStates[0].acc = avScalarVariables[ACCID];
    linearAVStates[0].speed = avScalarVariables[SPEEDID];
    //avStates[0].acc = 0;
    //avStates[0].speed = 0;

    goalPositions[0].x = goalVector[POSITIONID][X];
    goalPositions[0].y = goalVector[POSITIONID][Y];

    rotationalGoalStates[0].w = goalScalar[WID];
    rotationalGoalStates[0].heading = goalScalar[HEADID];
    linearGoalStates[0].acc = goalScalar[ACCID];
    linearGoalStates[0].speed = goalScalar[SPEEDID];
    //goalStates[0].acc = 0;
    //goalStates[0].speed = 0;

    collisionAvoidance(ACTUALOBS, appeared, NUMSTATICOBSS, staticObsVerdices_l, probe, obsPosition, rotationalObsStates, linearObsStates, avPosition, 
    rotationalAVStates, linearAVStates, goalPositions, localPath, LENGTHPATH, rotationalGoalStates, linearGoalStates);

    //dffHeading = rotationalGoalStates[0].heading;
    //without modify, the agent would be drawn to the obstacle in some cases
    angleToGoal = getAngle(avVectorVariables[POSITIONID][X], avVectorVariables[POSITIONID][Y], 
                                      goalVector[POSITIONID][X],goalVector[POSITIONID][Y], ANGLESCALE);
    newHeading = modify(obsPosition,avPosition[0],rotationalGoalStates[0].heading, angleToGoal);
    //without deviate, the agent would be coming back and forth when the obstacle is moving exactly forward it
    newHeading = deviate(newHeading);
    if(newHeading != rotationalGoalStates[0].heading)
    {
        probe[0] = 2;
        originalGoalHeading = rotationalGoalStates[0].heading;
        rotationalGoalStates[0].heading = newHeading;
    }

    goalScalar[WID] = rotationalGoalStates[0].w;
    goalScalar[HEADID] = rotationalGoalStates[0].heading;
    goalScalar[ACCID] = linearGoalStates[0].acc;
    goalScalar[SPEEDID] = linearGoalStates[0].speed;

    avScalarVariables[HEADID] = goalScalar[HEADID];
    avScalarVariables[ACCID] = goalScalar[ACCID];
}

void move()
{
    goalScalar[HEADID] = getAngle(avVectorVariables[POSITIONID][X], avVectorVariables[POSITIONID][Y], 
                                      goalVector[POSITIONID][X],goalVector[POSITIONID][Y], ANGLESCALE);

    avScalarVariables[HEADID] = goalScalar[HEADID];
}

void adjust()
{
    int i = 0;
    for(i = 0; i &lt; SPACEDIMENSION; i++)
    {
         avVectorVariables[POSITIONID][i] = goalVector[POSITIONID][i]; 
    }
}

void turn()
{
    int i = 0;

    if(oldStatus != AVOIDING){adjust();}
    for(i = 0; i &lt; SPACEDIMENSION; i++)
    {
         goalVector[POSITIONID][i] = WAYPOINTS[waypointsIndex][i]; 
    }
    goalScalar[SPEEDID] = MAXSCALAR[SPEEDID];
    goalScalar[ACCID] = MAXSCALAR[ACCID];
    goalScalar[HEADID] = getAngle(avVectorVariables[POSITIONID][X], avVectorVariables[POSITIONID][Y], 
                                      goalVector[POSITIONID][X],goalVector[POSITIONID][Y], ANGLESCALE);
    avScalarVariables[HEADID] = goalScalar[HEADID];
    avScalarVariables[ACCID] = goalScalar[ACCID];
    /*if(avScalarVariables[HEADID] &lt; goalScalar[HEADID])
    {
        goalScalar[WID] = MAXSCALAR[WID];
    }
    else if(avScalarVariables[HEADID] &gt; goalScalar[HEADID])
    {
        goalScalar[WID] = MINSCALAR[WID];
    }
    else if(avScalarVariables[HEADID] == goalScalar[HEADID])
    {
         goalScalar[WID] = 0;
    }*/
}

void calcSafeRegion()
{
    widthSafeRegion--;
}

bool isOut()
{
    int i = 0;
    int dis = 0;
    bool result = true;

    for(i = 0; i &lt; ACTUALOBS; i++)
    {
        if(appeared[i] == 1)
        {
            dis = getDisPointToPoint(obsVectorVariables[i][POSITIONID][X], obsVectorVariables[i][POSITIONID][Y], 
                          avVectorVariables[POSITIONID][X], avVectorVariables[POSITIONID][Y]);
            if(dis &lt;= VIEWRADIUS)
            {
                result = false;
            }
        }
    }

    return result;
}

bool reachWaypoint(int index)
{
    int currentDis = 0, newDis = 0, speed[2] = {0,0}, newPosi[SPACEDIMENSION] = {0,0};
    int i = 0;
    bool reach = false, overshoot = true;

    for(i = 0; i &lt; SPACEDIMENSION; i++)
    {
        speed[i] = getProjection(avScalarVariables[SPEEDID], avScalarVariables[HEADID], i);
        newPosi[i] = avVectorVariables[POSITIONID][i] + speed[i];
    }

    currentDis = getDisPointToPoint(avVectorVariables[POSITIONID][X], avVectorVariables[POSITIONID][Y], 
                          WAYPOINTS[index][X], WAYPOINTS[index][Y]);
    newDis = getDisPointToPoint(newPosi[X], newPosi[Y], WAYPOINTS[index][X], WAYPOINTS[index][Y]);
    if(currentDis &lt; widthSafeRegion || newDis &lt; widthSafeRegion)
    {
        if(currentDis &lt; newDis)
        {
            reach = true;
        }
    }
    return reach;
}

void makeDecision()
{
    bool reach = true, arriving = true;
    int i = 0;
    oldStatus = status;
    status = UNKNOWN;
    /*criticalIndex++;
    if(criticalIndex == CRITICALLENGTH)
    {
        criticalIndex = 0;
    }*/
    //should the agent avoid any obstacles?
    if(!isOut())
    {
        status = AVOIDING;
        for(i = 0; i &lt; ACTUALOBS; i++)
        {
            if(appeared[i] == 1)
            {
                collided = isCollide(i);
            }
        } 
    }
    else
    {
        if(oldStatus == AVOIDING)
        {
            status = TURNING;
        }
    }
        //judge if the vehicle has reached the next waypoint
        reach = reachWaypoint(waypointsIndex);
        arriving = reach&amp;(waypointsIndex == NUMWAYPOINTS-1);
    //should the agent turn?
    if(status != AVOIDING)
    {
        if(!reach)
        {
            status = MOVING;
        }
        //if the vehicle has reaches a waypoint and it is not the destination, then it turns its direction
        if(reach &amp;&amp; !arriving)
        {
            status = TURNING;
            waypointsIndex++;
            calcSafeRegion();
        }
    }
        if(arriving)
        {
            status = ARRIVING;
        }
}</declaration>
		<location id="id4" x="-221" y="8">
			<name x="-238" y="-25">STOP</name>
		</location>
		<location id="id5" x="-42" y="-26">
			<committed/>
		</location>
		<location id="id6" x="221" y="-26">
			<committed/>
		</location>
		<location id="id7" x="221" y="-127">
			<committed/>
		</location>
		<location id="id8" x="-42" y="-127">
			<name x="-59" y="-161">MOVE</name>
			<label kind="invariant" x="-153" y="-127">timer&lt;=PM</label>
		</location>
		<location id="id9" x="-221" y="-127">
			<name x="-231" y="-161">INIT</name>
			<committed/>
		</location>
		<init ref="id9"/>
		<transition>
			<source ref="id5"/>
			<target ref="id8"/>
			<label kind="guard" x="51" y="-93">status==
AVOIDING</label>
			<label kind="synchronisation" x="51" y="-59">change!</label>
			<label kind="assignment" x="51" y="-42">avoid()</label>
			<nail x="93" y="-25"/>
			<nail x="93" y="-68"/>
		</transition>
		<transition>
			<source ref="id9"/>
			<target ref="id8"/>
			<label kind="synchronisation" x="-203" y="-144">start!</label>
			<label kind="assignment" x="-153" y="-144">initialize()</label>
		</transition>
		<transition>
			<source ref="id5"/>
			<target ref="id4"/>
			<label kind="guard" x="-195" y="-8">status==ARRIVING</label>
			<nail x="-68" y="8"/>
		</transition>
		<transition>
			<source ref="id5"/>
			<target ref="id8"/>
			<label kind="guard" x="-161" y="-93">status==
TURNING</label>
			<label kind="synchronisation" x="-161" y="-59">change!</label>
			<label kind="assignment" x="-161" y="-42">turn()</label>
			<nail x="-110" y="-25"/>
			<nail x="-110" y="-68"/>
		</transition>
		<transition>
			<source ref="id5"/>
			<target ref="id8"/>
			<label kind="guard" x="-59" y="-93">status==
MOVING</label>
			<label kind="assignment" x="-42" y="-59">move()</label>
		</transition>
		<transition>
			<source ref="id6"/>
			<target ref="id5"/>
			<label kind="synchronisation" x="161" y="1">stay!</label>
			<label kind="assignment" x="-25" y="1">makeDecision()</label>
			<nail x="221" y="17"/>
			<nail x="-42" y="17"/>
		</transition>
		<transition>
			<source ref="id7"/>
			<target ref="id6"/>
			<label kind="synchronisation" x="230" y="-85">proceed!</label>
		</transition>
		<transition>
			<source ref="id8"/>
			<target ref="id7"/>
			<label kind="guard" x="25" y="-144">timer&gt;=PM</label>
			<label kind="synchronisation" x="119" y="-144">invoke!</label>
			<label kind="assignment" x="119" y="-127">timer=0</label>
		</transition>
	</template>
	<template>
		<name>ObsInitialization</name>
		<parameter>const int ID</parameter>
		<declaration>clock t;

void updateVector(int space, int boundary)
{
    obsVectorVariables[ID][POSITIONID][space] += STEPPOS;
    if(obsVectorVariables[ID][POSITIONID][space] &gt; boundary)
    {
        obsVectorVariables[ID][POSITIONID][space] = boundary;
    }
}

void updateScalar(int vID, int step)
{
    obsScalarVariables[ID][vID] -= step;
    if(obsScalarVariables[ID][vID] &lt; MINSCALAROBS[ID][vID])
    {
        obsScalarVariables[ID][vID] = MINSCALAROBS[ID][vID];
    }
}

bool ready()
{
    if(avScalarVariables[SPEEDID] != 0 &amp;&amp; waypointsIndex &lt; NUMWAYPOINTS)
    {
        return true;
    }

    return false;
}

void initialize()
{
    int maxExtension = 0;
    int minExtension = 0;
    int minDelta[SPACEDIMENSION] = {0,0};
    int maxDelta[SPACEDIMENSION] = {0,0};
    int target[SPACEDIMENSION] = {0,0};
    int speed[SPACEDIMENSION] = {0,0};
    int min[SPACEDIMENSION] = {0,0};
    int max[SPACEDIMENSION] = {0,0};
    int speedMax = getProjection(MAXSCALAROBS[ID][SPEEDID],PI/4,X);
    int spaceIndex = 0;
    int heading = 0;
    int alpha = 0;

    t = 0;
    maxExtension = widthSafeRegion + speedMax * (PS + PC);
    minExtension = widthSafeRegion + speedMax * PC;
    heading = abs(avScalarVariables[HEADID]);

    if(heading &gt;=0 &amp;&amp; heading&lt;=PI/4)
    {
        alpha = heading;
    }
    else if(heading &gt; PI/4 &amp;&amp; heading &lt;= PI/2)
    {
        alpha = PI/2 - heading;
    }
    else if(heading &gt; PI/2 &amp;&amp; heading &lt;= 3*PI/4)
    {
        alpha = heading - PI/2;
    }
    else if(heading &gt; 3*PI/4 &amp;&amp; heading &lt;= PI)
    {
        alpha = PI - heading;
    }
    alpha += PI/4;

    for(spaceIndex = 0; spaceIndex &lt; SPACEDIMENSION; spaceIndex++)
    {
        maxDelta[spaceIndex] = getValidRange(maxExtension, alpha, ANGLESCALE);
        minDelta[spaceIndex] = getValidRange(minExtension, alpha, ANGLESCALE);

        speed[spaceIndex] = getProjection(avScalarVariables[SPEEDID],avScalarVariables[HEADID],spaceIndex);
        target[spaceIndex] = avVectorVariables[POSITIONID][spaceIndex] + speed[spaceIndex]*PS;

        if(avVectorVariables[POSITIONID][spaceIndex] &gt;= target[spaceIndex])
        {
            max[spaceIndex] = avVectorVariables[POSITIONID][spaceIndex];
            min[spaceIndex] = target[spaceIndex];
        }
        else
        {
            max[spaceIndex] = target[spaceIndex];
            min[spaceIndex] = avVectorVariables[POSITIONID][spaceIndex];        
        }

        minOut[spaceIndex] = min[spaceIndex] - maxDelta[spaceIndex];
        minIn[spaceIndex] = min[spaceIndex] - minDelta[spaceIndex];
        maxOut[spaceIndex] = max[spaceIndex] + maxDelta[spaceIndex];
        maxIn[spaceIndex] = max[spaceIndex] + minDelta[spaceIndex];

        if(minOut[spaceIndex] &lt; MINVECTOROBS[ID][POSITIONID][spaceIndex])
        {
            minOut[spaceIndex] = MINVECTOROBS[ID][POSITIONID][spaceIndex];
        }
        if(minIn[spaceIndex] &lt; MINVECTOROBS[ID][POSITIONID][spaceIndex])
        {
            minIn[spaceIndex] = MINVECTOROBS[ID][POSITIONID][spaceIndex];
        }

        if(maxOut[spaceIndex] &gt; MAXVECTOROBS[ID][POSITIONID][spaceIndex])
        {
            maxOut[spaceIndex] = MAXVECTOROBS[ID][POSITIONID][spaceIndex];
        }
        if(maxIn[spaceIndex] &gt; MAXVECTOROBS[ID][POSITIONID][spaceIndex])
        {
            maxIn[spaceIndex] = MAXVECTOROBS[ID][POSITIONID][spaceIndex];
        }
        
        obsVectorVariables[ID][POSITIONID][spaceIndex] = minOut[spaceIndex];
    }
    
    obsScalarVariables[ID][ACCID] = 0;
    obsScalarVariables[ID][SPEEDID] = MAXSCALAROBS[ID][SPEEDID];
    obsScalarVariables[ID][WID] = 0;
    obsScalarVariables[ID][HEADID] = MAXSCALAROBS[ID][HEADID];
}

void adjust()
{
    int distance = getDisPointToPoint(obsVectorVariables[ID][POSITIONID][X], obsVectorVariables[ID][POSITIONID][Y], 
                          avVectorVariables[POSITIONID][X], avVectorVariables[POSITIONID][Y]);
    if(distance &lt; widthSafeRegion*4)
    {
        if(obsVectorVariables[ID][POSITIONID][X]&lt;avVectorVariables[POSITIONID][X])
        {
            obsVectorVariables[ID][POSITIONID][X] = obsVectorVariables[ID][POSITIONID][X] - 3*obsScalarVariables[ID][SPEEDID];
        }
        else
        {
            obsVectorVariables[ID][POSITIONID][X] = obsVectorVariables[ID][POSITIONID][X] + 3*obsScalarVariables[ID][SPEEDID];
        }
        if(obsVectorVariables[ID][POSITIONID][Y]&lt;avVectorVariables[POSITIONID][Y])
        {
            obsVectorVariables[ID][POSITIONID][Y] = obsVectorVariables[ID][POSITIONID][Y] - 3*obsScalarVariables[ID][SPEEDID];
        }
        else
        {
            obsVectorVariables[ID][POSITIONID][Y] = obsVectorVariables[ID][POSITIONID][Y] + 3*obsScalarVariables[ID][SPEEDID];
        }
    }
}</declaration>
		<location id="id10" x="136" y="110">
			<name x="162" y="102">Appear</name>
		</location>
		<location id="id11" x="93" y="-136">
			<label kind="invariant" x="119" y="-178">obsScalarVariables
[ID][HEADID]
 &gt;= MINSCALAROBS
[ID][HEADID]</label>
			<committed/>
		</location>
		<location id="id12" x="-59" y="110">
			<label kind="invariant" x="-42" y="59">obsScalarVariables
[ID][SPEEDID]
 &gt;= MINSCALAROBS
[ID][SPEEDID]</label>
			<committed/>
		</location>
		<location id="id13" x="-340" y="-136">
			<label kind="invariant" x="-323" y="-127">obsVectorVariables
[ID][POSITIONID][Y]
 &lt;= minIn[Y]</label>
			<committed/>
		</location>
		<location id="id14" x="-340" y="110">
			<label kind="invariant" x="-323" y="50">obsVectorVariables
[ID][POSITIONID][Y]
 &lt;= maxOut[Y]</label>
			<committed/>
		</location>
		<location id="id15" x="-612" y="-25">
			<name x="-622" y="-59">P1</name>
			<label kind="invariant" x="-765" y="-68">obsVectorVariables
[ID][POSITIONID][X]
 &lt;= maxOut[X]</label>
			<committed/>
		</location>
		<location id="id16" x="-612" y="-187">
		</location>
		<init ref="id16"/>
		<transition>
			<source ref="id12"/>
			<target ref="id11"/>
		</transition>
		<transition>
			<source ref="id11"/>
			<target ref="id10"/>
			<label kind="synchronisation" x="93" y="-34">obsGo[ID]!</label>
			<label kind="assignment" x="102" y="-17">appeared[ID]=1</label>
		</transition>
		<transition>
			<source ref="id11"/>
			<target ref="id11"/>
			<label kind="guard" x="-85" y="-238">obsScalarVariables[ID][HEADID]
 &gt; MINSCALAROBS[ID][HEADID]</label>
			<label kind="assignment" x="-85" y="-204">updateScalar(HEADID, STEPHEAD)</label>
			<nail x="68" y="-187"/>
			<nail x="119" y="-187"/>
		</transition>
		<transition>
			<source ref="id12"/>
			<target ref="id12"/>
			<label kind="guard" x="-221" y="136">obsScalarVariables[ID][SPEEDID]
 &gt; MINSCALAROBS[ID][SPEEDID]</label>
			<label kind="assignment" x="-221" y="178">updateScalar(SPEEDID, STEPSPEED)</label>
			<nail x="-85" y="153"/>
			<nail x="-34" y="153"/>
		</transition>
		<transition>
			<source ref="id13"/>
			<target ref="id14"/>
			<label kind="guard" x="-323" y="-59">obsVectorVariables
[ID][POSITIONID][Y]
&gt;= minIn[Y]</label>
			<label kind="assignment" x="-323" y="-8">obsVectorVariables
[ID][POSITIONID][Y]=maxIn[Y]</label>
		</transition>
		<transition>
			<source ref="id14"/>
			<target ref="id12"/>
			<label kind="assignment" x="-161" y="85">adjust()</label>
		</transition>
		<transition>
			<source ref="id13"/>
			<target ref="id12"/>
			<label kind="assignment" x="-161" y="-161">adjust()</label>
			<nail x="-59" y="-136"/>
		</transition>
		<transition>
			<source ref="id13"/>
			<target ref="id13"/>
			<label kind="guard" x="-442" y="-238">obsVectorVariables
[ID][POSITIONID][Y]
 &lt; minIn[Y]</label>
			<label kind="assignment" x="-442" y="-187">updateVector(Y,minIn[Y])</label>
			<nail x="-365" y="-170"/>
			<nail x="-314" y="-170"/>
		</transition>
		<transition>
			<source ref="id15"/>
			<target ref="id13"/>
			<label kind="guard" x="-518" y="-136">obsVectorVariables
[ID][POSITIONID][X]
&gt;= minIn[X]&amp;&amp;
obsVectorVariables
[ID][POSITIONID][X]
 &lt;= maxIn[X]</label>
		</transition>
		<transition>
			<source ref="id14"/>
			<target ref="id14"/>
			<label kind="guard" x="-433" y="127">obsVectorVariables
[ID][POSITIONID][Y]
 &lt; maxOut[Y]</label>
			<label kind="assignment" x="-433" y="178">updateVector(Y,maxOut[Y])</label>
			<nail x="-365" y="152"/>
			<nail x="-314" y="152"/>
		</transition>
		<transition>
			<source ref="id15"/>
			<target ref="id14"/>
			<label kind="guard" x="-518" y="0">obsVectorVariables
[ID][POSITIONID][X]
 &lt; minIn[X]||
obsVectorVariables
[ID][POSITIONID][X]
 &gt; maxIn[X]</label>
		</transition>
		<transition>
			<source ref="id15"/>
			<target ref="id15"/>
			<label kind="guard" x="-714" y="0">obsVectorVariables
[ID][POSITIONID][X]
 &lt; maxOut[X]</label>
			<label kind="assignment" x="-731" y="51">updateVector(X,maxOut[X])</label>
			<nail x="-637" y="25"/>
			<nail x="-586" y="25"/>
		</transition>
		<transition>
			<source ref="id16"/>
			<target ref="id15"/>
			<label kind="guard" x="-671" y="-153">ready()&amp;&amp;
t&gt;=PTS&amp;&amp;
t&lt;=PTE</label>
			<label kind="assignment" x="-671" y="-119">initialize()</label>
		</transition>
	</template>
	<template>
		<name>ObsMove</name>
		<parameter>const int ID</parameter>
		<declaration>int divert = 0;

void updateScalar(int vID, int step)
{
    obsScalarVariables[ID][vID] -= step;
    if(obsScalarVariables[ID][vID] &lt; MINSCALAROBS[ID][vID])
    {
        obsScalarVariables[ID][vID] = MINSCALAROBS[ID][vID];
    }
}

bool left()
{
    int i = 0;
    bool left = false;

    for(i = 0; i &lt; SPACEDIMENSION; i++)
    {
        left = (obsVectorVariables[ID][POSITIONID][i]==MAXVECTOR[POSITIONID][i]) || (obsVectorVariables[ID][POSITIONID][i]==MINVECTOR[POSITIONID][i]);
        if(left)return left;
    }
    
    return left;
}

bool isFar()
{
    int dis = getDisPointToPoint(obsVectorVariables[ID][POSITIONID][X], obsVectorVariables[ID][POSITIONID][Y], 
                          avVectorVariables[POSITIONID][X], avVectorVariables[POSITIONID][Y]);
    if(dis &gt; FARRADIUS)
    {
        return true;
    }
    if(hitWall() || left())
    {
        return true;
    }

    return false;
}

void update()
{
    int spaceIndex = 0;

    for(spaceIndex = 0; spaceIndex &lt; SPACEDIMENSION; spaceIndex++)
    {
        obsVectorVariables[ID][POSITIONID][spaceIndex] += getProjection(obsScalarVariables[ID][SPEEDID], obsScalarVariables[ID][HEADID], spaceIndex);
        if(obsVectorVariables[ID][POSITIONID][spaceIndex] &gt; MAXVECTOROBS[ID][POSITIONID][spaceIndex])
        {
            obsVectorVariables[ID][POSITIONID][spaceIndex] = MAXVECTOROBS[ID][POSITIONID][spaceIndex];
        }
        else if(obsVectorVariables[ID][POSITIONID][spaceIndex] &lt; MINVECTOROBS[ID][POSITIONID][spaceIndex])
        {
            obsVectorVariables[ID][POSITIONID][spaceIndex] = MINVECTOROBS[ID][POSITIONID][spaceIndex];
        }
    }
    
    obsScalarVariables[ID][HEADID] += obsScalarVariables[ID][WID];
    if(obsScalarVariables[ID][HEADID] &gt; PI)
    {
        obsScalarVariables[ID][HEADID] = obsScalarVariables[ID][HEADID] - 2*PI;
    }
    else if(obsScalarVariables[ID][HEADID] &lt; -PI)
    {
        obsScalarVariables[ID][HEADID] = obsScalarVariables[ID][HEADID] + 2*PI;
    }

    /*obsScalarVariables[ID][SPEEDID] += obsScalarVariables[ID][ACCID];
    if(obsScalarVariables[ID][SPEEDID] &gt; MAXSCALAROBS[ID][SPEEDID])
    {
        obsScalarVariables[ID][SPEEDID] = MAXSCALAROBS[ID][SPEEDID];
    }
    else if(obsScalarVariables[ID][SPEEDID] &lt; MINSCALAROBS[ID][SPEEDID])
    {
        obsScalarVariables[ID][SPEEDID] = MINSCALAROBS[ID][SPEEDID];
    }*/

    collided = isCollide(ID);
    divert++;
}

void reset()
{
    obsScalarVariables[ID][SPEEDID] = MAXSCALAROBS[ID][SPEEDID];
    //obsScalarVariables[ID][HEADID] = MAXSCALAROBS[ID][HEADID];
}

void turn(int mode)
{
    divert = 0;
    if(mode == 0)
    {
        //
    }
    else if(mode == 1)
    {
        obsScalarVariables[ID][HEADID] += MAXSCALAROBS[ID][WID];
        if(obsScalarVariables[ID][HEADID] &gt; PI)
        {
            obsScalarVariables[ID][HEADID] = obsScalarVariables[ID][HEADID] - 2*PI;
        }
    }
    else if(mode == 2)
    {
        obsScalarVariables[ID][HEADID] += MINSCALAROBS[ID][WID];
        if(obsScalarVariables[ID][HEADID] &lt; -PI)
        {
            obsScalarVariables[ID][HEADID] = 2*PI + obsScalarVariables[ID][HEADID];
        }
    }
}

void leave()
{
    appeared[ID] = 0;
    obsScalarVariables[ID][WID] = 0;
    obsScalarVariables[ID][ACCID] = 0;
    obsScalarVariables[ID][SPEEDID] = 0;
    collided = isCollide(ID);
}</declaration>
		<location id="id17" x="-382" y="-76">
			<label kind="invariant" x="-263" y="-93">obsScalarVariables
[ID][SPEEDID]
 &gt;= MINSCALAROBS
[ID][SPEEDID]</label>
			<urgent/>
		</location>
		<location id="id18" x="-17" y="-195">
			<name x="-68" y="-229">Disappear</name>
		</location>
		<location id="id19" x="-382" y="-195">
		</location>
		<location id="id20" x="-765" y="-195">
		</location>
		<init ref="id20"/>
		<transition>
			<source ref="id17"/>
			<target ref="id19"/>
			<label kind="select" x="-364" y="-127">mode:int[0,2]</label>
			<label kind="assignment" x="-348" y="-144">turn(mode)</label>
			<nail x="-314" y="-76"/>
			<nail x="-314" y="-178"/>
		</transition>
		<transition>
			<source ref="id17"/>
			<target ref="id17"/>
			<label kind="guard" x="-501" y="-59">obsScalarVariables[ID][SPEEDID]
 &gt; MINSCALAROBS[ID][SPEEDID]</label>
			<label kind="assignment" x="-510" y="-17">updateScalar(SPEEDID, STEPSPEED)</label>
			<nail x="-399" y="-34"/>
			<nail x="-365" y="-34"/>
		</transition>
		<transition>
			<source ref="id19"/>
			<target ref="id17"/>
			<label kind="guard" x="-552" y="-153">divert==5&amp;&amp;!isFar()</label>
			<label kind="synchronisation" x="-510" y="-136">invoke?</label>
			<label kind="assignment" x="-501" y="-119">reset()</label>
			<nail x="-450" y="-178"/>
			<nail x="-450" y="-76"/>
		</transition>
		<transition>
			<source ref="id19"/>
			<target ref="id19"/>
			<label kind="guard" x="-459" y="-255">divert!=5&amp;&amp;!isFar()</label>
			<label kind="synchronisation" x="-459" y="-238">invoke?</label>
			<label kind="assignment" x="-459" y="-221">update()</label>
			<nail x="-416" y="-237"/>
			<nail x="-348" y="-237"/>
		</transition>
		<transition>
			<source ref="id19"/>
			<target ref="id18"/>
			<label kind="guard" x="-246" y="-212">isFar()</label>
			<label kind="synchronisation" x="-323" y="-212">invoke?</label>
			<label kind="assignment" x="-187" y="-212">leave()</label>
		</transition>
		<transition>
			<source ref="id20"/>
			<target ref="id19"/>
			<label kind="synchronisation" x="-714" y="-212">obsGo[ID]?</label>
			<label kind="assignment" x="-629" y="-212">collided = isCollide(ID)</label>
		</transition>
	</template>
	<system>//agent_w = AVVariable(WID,CONSTRATE,NOTDIMENSIONAL);
//agent_heading = AVVariable(HEADID,CONSTRATE,NOTDIMENSIONAL);

//agent_acc = AVVariable(ACCID,CONSTRATE,NOTDIMENSIONAL);
agent_speed = AVVariable(SPEEDID,ACCID,NOTDIMENSIONAL);

agent_position_x = AVVariable(POSITIONID,SPEEDID,X);
agent_position_y = AVVariable(POSITIONID,SPEEDID,Y);

agent_controller = AVController();

obsInit0 = ObsInitialization(0);
obsMove0 = ObsMove(0);
obsInit1 = ObsInitialization(1);
obsMove1 = ObsMove(1);


system agent_speed, agent_position_x, agent_position_y, agent_controller, obsInit0, obsMove0;
    </system>
	<queries>
		<query>
			<formula>A[] !collided</formula>
			<comment>Collision-avoidance Verification</comment>
		</query>
		<query>
			<formula>inf{obsInit0.Appear}: distance</formula>
			<comment>Closest distance the agent and moving obstacle can get</comment>
		</query>
	</queries>
</nta>