rule (at 2001.2.3)

From: takahashi_tomoichi (
Date: Sat 03 Feb 2001 - 12:56:44 GMT

Dear Rescue-ML members:

(Tentative) Final rules of RoboCup Rescue Simulation League (2001.2.3)

Today, members of Japanese team discussed face-to-face the
issues pointed by this Mailing League.
The followings are *tentaive* rules of RoboCup Rescue Simulation League
based on discussion.
  (We discussed the message format of civilian agents.
   The message format is a part of this rule, however,
   they are not included this mail.
   The revised message format will be public by February 11.
   This is the reason why this is *tentative* final rule.)

Best regards

Tomocihi Takahashi

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

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

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 +AEA-place xx +AEA-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 < 3000.
             b) not target to the ignition points.
             c) not water farther 30m from burning buildings.
             d) set water point within 30m from 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 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 less 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 WS (2001 Aug.).
        5-2) remote entry is ok.
        5-3) source code must be open after competition.
        5-4) Log files will be open.
* 5-5) Linux version Fire simulator is used a fire simulator.

 Tomoichi TAKAHASHI, Dr. Eng.
                1200 Matsumoto, Kasugai, AICHI, 487-8501 Japan
                Tel: 568 51 1111 ext. 4928
                Fax: 568 52 1505

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