*****
Dear Rescue-ML members:
As Satoshi said:
2000 Dec.
Decision for preliminary specification
of version 0
Start international discussion
(We took this way because face-to-face discussion
is efficient and few people out of Japan
know the detail of current simulator. So,
Japanese group makes the preliminary version,
then open discussion starts.)
Members of Japanese team discussed at December
23. and edited rules. The followings
are preliminary rules of RoboCup Rescue Simulation
League. This is the start point to discuss
the final rule of RoboCup 2001. The final
specification is decided based on the discussion
and will be announced at the end of January,
2001.
We are looking forward to active discussion.
Best regards
Tomocihi Takahashi, The Rule Committee Chair
PS.
Present data, parameters and others have
been modified during this year's demonstrations
to move. Wee will check them by end of January,
2001. We will also announce the result.
1) Field
2) Agents
3) Fair Play (Gentlemen) rules
4) Condition of competition
5) Others
1/10 model of Kobe map.
(When other area map are available to our
community,
it will be discussed at the time.)
2-1) numbers of agent
Fire Brigade 10
Police Force 10
Ambulance 5
Civilian 72
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 modified Koto's agents and 12 new
speaking agents are used.
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
position.
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.
3-1) Fire Brigade
a) extinguish power < 3000.
b) not target to the ignition points.
c) not water farther 30m from burning buildings.
d) set water point within 30m form fire engine.
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 capacity of hearing is
dependent of
say-number.
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.
b) The committee will prepare three maps
of seismic
intensity that changes the effect of building
& read
collapse.
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
operation.
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.
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.
should be minimized. But because of man-power problem and machine-power problem, it is difficult for the kernel to check everything in real time. Gentlemens legal behavior is expected for all the participants. All the log and source code become open to public. The code/log check afterward will find rule violation. If ever any violation is found, the winning award becomes invalid.