Pseudocode Example
作者:
IserlohnArchmage
最近上传:
5 年前
许可:
Creative Commons CC BY 4.0
摘要:
An example showing how to use pseudocode in Algorithmcx.
\begin
Discover why 18 million people worldwide trust Overleaf with their work.
An example showing how to use pseudocode in Algorithmcx.
\begin
Discover why 18 million people worldwide trust Overleaf with their work.
\documentclass[a4paper,11pt]{article}
\usepackage{algorithm}
\usepackage{algpseudocode}
\begin{document}
\begin{algorithm}
\caption{PPO}
\begin{algorithmic}[1]
\For {$iteration=1,2,\ldots$}
\For {$actor=1,2,\ldots,N$}
\State Run policy $\pi_{\theta_{old}}$ in environment for $T$ time steps
\State Compute advantage estimates $\hat{A}_{1},\ldots,\hat{A}_{T}$
\EndFor
\State Optimize surrogate $L$ wrt. $\theta$, with $K$ epochs and minibatch size $M\leq NT$
\State $\theta_{old}\leftarrow\theta$
\EndFor
\end{algorithmic}
\end{algorithm}
\begin{algorithm}
\caption{Game Theory Controller}
\begin{algorithmic}[1]
\For {Every time step}
\State Calculate target seeking command $\mathbf{x}_{tsCmd}$ (Eq.: 3.12)
\For {All map measurements from $\mathbf{x}_{Map}$}
\State Denormalize measurement (Eq.: 3.14)
\State Add margin of safety (Eq.: 3.15)
\State Calculate altitude difference $\Delta h_{ObsSafe_{j}}$ to aircraft (Eq.: 3.16)
\If {$\Delta h_{ObsSafe_{j}}>0$}
\State Add measurement to set of critical measurements $\mathcal{M}_{crit}$ (Eq.: 3.17)
\EndIf
\EndFor
\For {All measurements in $\mathcal{M}_{crit}$}
\State Calculate local obstacle avoidance vector (Eq.: 3.20)
\EndFor
\State Sum over all local avoidance vectors (Eq.: 3.22)
\State Transform to global coordinate frame to receive $\mathbf{x}_{oaCmd}$ (Eq.: 3.23)
\State Calculate obstacle avoidance weight $w_{oa}$ based on critical zone weight (Eq.: 3.24)
\State Calculate target seeking weight $w_{ts}$ as $1-w_{oa}$ (Eq.: 3.13)
\State Calculate command vector $\mathbf{x}_{HSaCmd}=w_{oa}\mathbf{x}_{oaCmd}+w_{ts}\mathbf{x}_{tsCmd}$ (Eq.: 3.11)
\EndFor
\end{algorithmic}
\end{algorithm}
\end{document}