MakeFigure6
PURPOSE 
Generates Figure 6.
SYNOPSIS
function MakeFigure6
DESCRIPTION
Generates Figure 6. Displays the Figure 6 in the paper. Shows the accumulated discounted reward averaged for several trials using the final plan obtained when representing beliefs and alpha mixtures with different number of components. If results for the plots are not pre-computed they are generted on the fly and this can be veeery time consuming.
CROSS-REFERENCE INFORMATION
This function calls:
- plot Plots a discrete belief.
- plot Displays a particle-based belief.
- GetTest1Parameters The example on Figure 1.
- plot Plots a Gaussian mixture.
- set Set method for Gaussian mixtures.
- plot Plots a Gaussian.
- GetData Loads and, if necessary, generates data from experiments.
- TestRepWithStatistics Executes many times Perseus on a given problem and collects statistics.
- plot Plots the CS_CO_ObsModel
- POMDP POMDP constructor.
- set Set function for PODMP (base type)
- plot Plots the CS_CA_RewardModel
SOURCE CODE
0001 function MakeFigure6 0002 % Generates Figure 6. 0003 % 0004 % Displays the Figure 6 in the paper. 0005 % 0006 % Shows the accumulated discounted reward averaged for several trials 0007 % using the final plan obtained when representing beliefs and alpha 0008 % mixtures with different number of components. 0009 % 0010 % If results for the plots are not pre-computed they are generted on the 0011 % fly and this can be veeery time consuming. 0012 0013 fprintf('Loading/Generating the simulation results with normal parameters'); 0014 fprintf(' (4-components beliefs and 9-components alpha-mixtures)\n'); 0015 GenData=@()(TestRepWithStatistics('Test1','Figure2',1:10)); 0016 ResultsNormal=GetData('Results/Test1-Figure2-results.mat',GenData); 0017 0018 fprintf('Loading/Generating the simulation results 1-component beliefs\n'); 0019 [POMDP P]=GetTest1Parameters(1,9); 0020 GenData=@()(TestRepWithStatistics(POMDP,P,'Figure6-a',1:10)); 0021 ResultsB1=GetData('Results/Test1-Figure6-a-results.mat',GenData); 0022 0023 fprintf('Loading/Generating the simulation results 3-components alpha mixtures\n'); 0024 [POMDP P]=GetTest1Parameters(4,3); 0025 GenData=@()(TestRepWithStatistics(POMDP,P,'Figure6-b',1:10)); 0026 ResultsA3=GetData('Results/Test1-Figure6-b-results.mat',GenData); 0027 0028 h=clf; 0029 set(h,'name','C-POMDP Figure 6','numbertitle','off'); 0030 0031 plot(ResultsB1.tics,ResultsB1.SM.R,'linestyle',':'); 0032 hold on; 0033 plot(ResultsA3.tics,ResultsA3.SM.R,'linestyle','--'); 0034 plot(ResultsNormal.tics,ResultsNormal.SM.R); 0035 0036 legend('1-component beliefs','3-component \alpha-functions','9-c. \alpha-func. + 4-c. beliefs'); 0037 0038 xlabel('time (s)'); 0039 ylabel('Acc. Disc. Reward');