multiagent reward

utiasDSL · Nov 20, 2023 · d1948db · d1948db
1 parent b5d3549
commit d1948db
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/gym_pybullet_drones/envs/LeaderFollowerAviary.py b/gym_pybullet_drones/envs/LeaderFollowerAviary.py
@@ -81,9 +81,9 @@ def _computeReward(self):
 
         """
         states = np.array([self._getDroneStateVector(i) for i in range(self.NUM_DRONES)])
-        ret = max(0, 100 - np.linalg.norm(self.TARGET_POS-states[0, 0:3])**2)
+        ret = max(0, 10 - np.linalg.norm(self.TARGET_POS-states[0, 0:3])**4)
         for i in range(1, self.NUM_DRONES):
-            ret += max(0, 10 - np.linalg.norm(states[i-1, 3]-states[i, 3])**2)
+            ret += max(0, 10 - np.linalg.norm(states[i-1, 3]-states[i, 3])**4)
         return ret
 
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