MPC Replan Count

Problem

Count how many full-horizon plans a receding-horizon controller can run.

A plan starting at step t needs t + horizon <= episode_length, so the number of start steps is episode_length - horizon + 1. Return 0 when the horizon is non-positive or longer than the episode.

Hint

MPC executes only the first action of each plan, then plans again.

Test cases

case 1

in: [10,3]

expected: 8

case 2

in: [5,5]

expected: 1

case 3

in: [4,5]

expected: 0

case 4

in: [10,0]

expected: 0

case 5

in: [1,1]

expected: 1

Starter codePython

def mpc_replan_count(episode_length, horizon):
    # Your code here
    pass

5 test cases · run your code against them in the editor