RoboCup 2003 Rescue Simulation Leagues

1. 2003.5.11 draft(version.3)
   
   • Foligno Map changed to New Rescue-map of the center of Foligno.
     (release: 30/4/2003 )
   • add detailed description of 4 message rule and open-source policy.
2. 2003.3.26 draft(version.2)
   
   • The numbers center-agent are fixed to ONE at 2003.
     (Note: Flexibility of numbers of center-agent , including ZERO that means an office building of the center-agent is corrupted, is one of issues to be discussed for 2004.)
   • A term on Maps is added.
     
3. 2003.1.11 draft(version.1)
   Committee's decision based on ballot's result. (cf. e-mail at Jan.11/03)

Game Rules

• Software environments:
  
  1. A Linux package will be used. The package will be down loaded here . On Jan. 1, 2003, a package (version number 0.41) including newly proposed softwares can be downloaded. At competition, a package of the latest version will be used.
  2. Morimoto viewer will be used at 2003 competition. It means also that scores displayed by Morimoto viewer are official ones.
• Maps:
  Three maps are used.
  1. center of Foligno (Italy)
  2. Kobe (Japan)
  3. Virtual City
• Agents:
  
  1. numbers:
     The numbers of agents and ignition points specified in gisinit.txt are in the following range. The numbers are open before games.
     

                                 min.  max.
            -------------------+-----+-----
            Fire Brigade       :  10   15 
            Police Force       :  10   15 
            Ambulance          :   5    8 
            Civilian           :  70   90 
            Fire Brigade Center:   1    1  [fixed to One]
            Police Force Center:   1    1  [fixed to One]
            Ambulance Center   :   1    1  [fixed to One]
            Refuges            :   1    5
            -------------------+-----+-----
            ignition points    :   2    8   
            

  2. civilian:
     Shinoda and Noda's civilian with behavior rule-sets is used.
  3. messages:
     Messages that rescue agents communucate within a team satisfy following conditions.
     1. In each cycle,
        • for platoon agents, maximum 4 messages sent and 4 messages received,
        • for center agents, maximum 2*n messages sent and 2*n messages received, where n is the number of platoon agents of the same kind as center. For example, there are 10 fire brigades so a fire station can send and receive at most 20 messages per cycle.
     2. Each agent must completely ignore and discard the messages it decides not to hear.
        

        Message format::= selfID senderID data_part
        # standard of 4 message_read procedure 
        1.Store all messages into two buffers, buffer_1 and buffer_2 :
           buffer_1 for selfID and senderID and
           buffer_2 other buffer for message_part.
        2.Select 4 messages using ONLY buffer_1.
        3.Read the corresponding data-parts from buffer_2.
                    

        You can see an example of recommended implementation in Agent.java of YabAPI code.

              66  KaHear hear = (KaHear) data;
              67  RealObject sender = world.get(hear.senderId);
              68  if (sender != self()
              69      && m_numHearing ++ < hearingLimit())
              70      hear(sender, hear.message);
                    

     3. Each message's length is not more than 80 bytes.
  4. Parameters uses in games[tentative]:
     1. parameters in config.txt[kernel]:
        Default parameters are used.

        $ pwd
        /../rescue-0_41-unix/RUN
        $ more config.txt
        ################################################# new options for the 2003 competition.
        
        # An agent can discover a fire within a distance D[m] roughly proportional
        # to its fieryness, where
        #       D = K * (cycles from the start of burnup)
        # If fire_cognition_spredding_speed >= 0, K is given by                 
        # fire_cognition_spredding_speed. Otherwise, K is infinite.
        fire_cognition_spredding_speed	: 10000
        
        # If simulate_tank_quantity is true, tank quantity properties are       
        # decreased by extinguishments.  If tank is empty, extinguishments      
        # should be faild.
        simulate_tank_quantity		: true
        
        # Tank quantity properties are increased by tank_quantity_recovery_on_refuge
        # if the agent is in a refuge.
        tank_quantity_recovery_on_refuge : 1000
        # same as max_extinguish_power
        
        # Gives the maximum quantity of a tank.
        tank_quantity_maximum		: 15000
        
        
        # not new, but the subject of the discussion
        say_max_bytes			: 80
        
        
        ################################################# new options for the 2002 competition.
        
        ignore_nozzle_position		: true
        area_per_repair_cost		: 20000000
        round_down_quantity		: false
        accept_multiple_nozzles		: true
        near_agents_rescuable		: true
        steps_far_fire_invisible	: 5
        steps_agents_freezed		: 3
        notify_initial_position		: false
        notify_position_history		: false
        miscsimulator_supports_load	: false
        notify_only_fire_for_far_buildings	: true
        
        notify_unchangeable_informaion		: true
        # 			true for compatibility
          :
             

     2. other parameters: [tentaive]
        
        1. simulation time: 300 steps,
        2. range of eyesight is 10m,
        3. range of voice is 30m,
        4. power of earthquake.
           shindopolydata.dat, galpolydata.dat
  5. Evaluation Rule(Which team will win ?):
     The more V value for a map, the better rescue operation.

         V=(P + S/Sint) * sqrt(B/Bint)
           P: number of living agents,
           S: remaing HP of all agents,
           Sint: total HP of all agents at initial,
           B: area of houses that are not burnt,
           Bint: total area at initial.
         

  6. Valid games:
     Are games valid when some simulators fail?:
     Some simulators may fail during a game, although they are debugged. In that case, only ONE more simulation is permitted. When the same problem occurs at the simulation, the simulation continues to the end.
     The point at the game is treated on the principle that the continuation should not be the team's favor. Namely,
     1. in a case of the traffic simulator fails, the continuation is against the team's point. So, the game is valid and the point is treated as effective one.
     2. in cases of the other simulators (including kernel) fail, the continuation is for the team's point. For example, the fire simulator stops then there are not more fire. In that case, the team gets 0 point for that simulation in the preliminary games, and loses the game in the final games.
  7. Others
     
     1. We have to ensure that the competition field for competing teams is identical not only parameters but also the seeds of random numbers used in simulators, -- the miscsimulator, collapse simulator, fire simulator.
        
     2. Open source policy: Source code files must be open
        1. immediately after games when other teams request (to guarantee fair plays),
        2. to encorage activities of community after competition.
     3. Log files and related parameter files will be open.