Semi-Final Rule and Evaluation for 2001 RoboCup-Rescue Simulation Leagues
(Final Rule and Evaluation for Japan Open 2001)

*    marked sentences are newly added rules (at 2001.2.3).
>   marked sentences are modified rules (at 2001.2.3).
>> marked sentences are modified rules (at 2001.4.1).

Semi-Final Rule Memo of RoboCup-Rescue Simulation League (2001.4.1)


1) Field
2) Agents
3) Fair Play (Gentlemen) rules
4) Condition of competition
5) Others

1) Field

1/10 model of Kobe map.
(When other area map are available to our community,
it will be discussed at the time.)

2) Agents

2-1) numbers of agent
Fire Brigade 10
Police Force 10
Ambulance 5
Civilian 72
* Fire Brigade Center 1
* Police Force Center 1
* Ambulance Center 1

2-2) agents prepared by committee
Civilian, Police Force, Ambulance:
a) Civilian:
The committee will provide two kinds of civilian.
One is modified Koto's sample agent.
The agent will be modified to tell "HELP".
The other agent will tell -
"HELP me" (when buried, once per 1 turn),
"Hear HELP @place xx @time t",
"See {blockage, fire} @place xx @time t",
or noises.
The message format of civilian is base on FIPA/ACL, while the format of rescue
team's message is free format.

> 60 agents are newly coded based on Koto's sample
> agents, and 12 agents have can "say" (NOT "tell")
> to other agents.
* The message format of the civilians will be public
* on Rescue Homepage by February 11.
* The codes of civilian agents will be public at the
* end of February.

Note 1)
To prohibit following message-chain,
Agent-1 says "HELP me".
Agent-2 hears Agene-1 say "HELP me",
and Agent-2 says "Hear HELP @place xx @time t",
Agent-3 hears Agene-2 say "Hear HELP @place xx
@time t"."HELP me", and Agent-3 says "Hear
HELP @place xx @time t".
the second agent can say "Hear HELP @place xx @time t",
only when it hears "HELP me".

Note 2)
@place in "Hear HELP" is (x, y)position not
id-information, and noises are added to the
The will be calculated by eyesight*random.

Note 3)
The agents will be provided form Kobe University.
The first prototype will be announced by February 2001.
b) Police Force, Ambulance:
Sample agents are used.

2-3) agents that a rescue team prepares
a) Fire Brigade:
A team must make Fire Brigade agent.

b) Police Force, Ambulance:
A team may make Police Force, Ambulance agents,
otherwise sample agents are used as your rescue
team member.

* c) Fire Brigade Center, Police Force Center, Ambulance Center
* A team may make one Fire Brigade Center, one Police
* Force Center, and one Ambulance Center.
* But there are no sample agents for **-Center agents.
* 2-4) rescue team members
* It is recommended that a team make all kinds of agents.
* When
* team A := makes only Fire Brigades,
* team B := makes Fire Brigades, Police Force.
* team C := makes Fire Brigades, Police Force, Ambulance.
* team D := makes Fire Brigades, Police Force, PF(Police Force) Center.
* , then their rescue team is the followings.

* own agents sample agents
Team A Fire Brigades Police Force, Ambulance
Team B Fire Brigades, Police Force Ambulance
Team C Fire Brigades, Police Force, Ambulance
Team D Fire Brigades, Police Force, PF Center Ambulance

* It means that a team must make fire brigades agents at least,
* may use sample agents as their own agents.
* There are no sample code for **-Center agents, so if a team
* will not make **-Center agent, then the team cannot have
* **-Center agents.

3) Fair Play (Gentlemen) rules

* At the end of March, new version will be released.
* The version will be used in competitions in 2001
* Our development team will do their best, however, they cannot
* commit which and how much fair play rules will be implemented at present.
* Their answer will be in the version released at the end of March.
* After this April, only bugs will be fixed.

3-1) Fire Brigade
>> a) extinguish power < 1,000.
b) not target to the ignition points.
>>  Notice 1:
>>  Kernel (Ver.0.28 and previous ones)  sends  a message that includes ignitiion points.
>>  Term (b)  indicates that fire agents use this information,
>>  and does not  rule out the cases that  agents find ignitiion points by themselves and water them.
>> Notice 2:
>>   Kernel will be changed to send the message with  ignitiion points or
>>   send the message with fault points, or other.
>>   Koto-san will present new version.
>> c) not water fires  that are farther 30m from  the agent
>> d) cannot expand its fire hose.
e) not go around before buildings start to bum.

3-2) Police Force

3-3) Ambulance
a) execute AK_RESCUE before AK_LOAD.
b) only AK_TELL and AK_SAY can be sent
when buridness > 0.

3-4) Civilian
a) pretend that it cannot see buried agents,
although actually it see them.
(cf, 2-2: it can hear their voice.)
b) when it's DAMAGE > some value, it don't move.
(At present, it moves after it is saved,
so ambulance agent cannot load it.)

3-5) Others
a) agents can tell (or say ) Max 4 sentences (in terms of
simple sentence) per 1 turn.
> b) Agents in the same rescue team can hear other team
> mates saying.
* The agent can see sender ID of all messages, but
* can read MAX 4 messages. (The idea is that the agent
* can select the best four messages from ones it received.)
* There is no restriction on the length of messages,
* however, the length under 256 byes is recommended from
* network traffic.

4) Condition of competition

4-1) competition field:
a) GIS data with variable parameters is provided.
The parameters are
ignition points number (1-5) & their positions,
the positions of rescue agents & other agents.

Each participant team must prepare two different
fields by changing the parameters.

* The location of Fire Brigade Center, Police Force Center,
* and Ambulance Center is fixed by committee.

b) The committee will prepare three maps of seismic
intensity that changes the effect of building & read
The committee selects which map use at the game.

4-2) Preliminary and finals:
The fields for preliminary and finals are selected from
the fields that the participant teams prepare by lottery.
Each team will rescue all the selected fields.
The rescue operation is evaluated(cf. 4-3).

Top two teams are finalists.
The fields of final are the fields that the finals
prepare and one that is not used in the preliminaries.

4-3) Evaluation rule:
2001's principle is "Human life is the most valuable".
Three parameters are used to evaluate the rescue
L: the number of dead persons.
H: the amount of HP values of all agents.
H parameter shows the efficiency of operations.
B: the area of houses that do NOT burn.

V = L - (H/Hmax * B/Bmax)
Hmax: the number of agents * initial value(10,000)
Bmax: the are of fields

The kess V value, the better rescue operation.

4-4) parameters
Simulation time: 600 steps.
(V value at 600step is used.)
The range of eyesight is 30m.
The range of voice is 30m.

* Note 1)
* We have to ensure that the competition field for two
* competing teams is identical not only parameters
* but also the seeds of random numbers used in
* simulators, -- the miscsimulator, collapse simulator, fire
* simulator.

5) Others

5-1) the rule will be used in competitions
Japan Open (2001 Apr.-May),
RoboFesta (2001 Jul.),
RoboCup WC (2001 Aug.).

5-2) remote entry is ok.

5-3) source code must be open after competition (Japan Open and RoboCup WC only).

5-4) Log files will be open.

* 5-5) Linux version Fire simulator is used a fire simulator.