RoboCup 2001 Rescue Simulation Leagues

Index
A) Schedules

  1. team meeting; (Aug. 3  from 13:00)
  2. preliminary games; (Aug. 4-6)
  3. final games; (Aug.9 - 10)

    B) Rules

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

    A) Schedules

    1. team meeting; (Aug. 3  from 13:00)
      At the meeting, we will confirm how to progress the rescue simulation league at Seattle.
      (Of course, I hope this homepage will clear the details:))
      All team must submit their maps to the league chairs at the meetings.
      caution 1: Every team must prepare two maps that you can make from the original Kobe map by using Hatayama's tool .
    2. preliminary games; (Aug. 4-6)
      Game will be played in the way described below. The number of entries teams are ten teams, so 25 * 2games are done during 3days.
      1. They are divided in two groups A and B.
        Ten teams are labeled as {a1, a2, a3, a4, a5} and {b1, b2, b3, b4, b5}. Each team have two maps, we say map_1 and map_2.
        The notification <team label>_<map number> refers to the map that the team prepares.
        for example, a5_2 is the second map of team a5 in league A has.
      2. All team selects one of their maps for preliminary games. There are five maps in each group, say {a1_m, a2_m, a3_m, a4_m, a5_m} and {b1_m, b2_m, b3_m, b4_m, b5_m} where m is either 1 or 2.
        The maps are different each other, because each team will edit parameters independently.
      3. For each map, every team will do rescue operations.
        The teams get points according to scores shown by LogViewers -
        the 1st team gets 4 points, the 2nd team gets 3 points, 3rd team gets 2 points, 4th team get s 1 points, and the 5th gets none.
        When the score of LogViewer are the same as other teams, then they get average points.
      4. Teams get points from 4*5 to 0 by doing rescue operations for 5 maps.
        Top two teams of each leagues are qualified to final games. When there are teams with the same points, then their total scores of LogViewer determines their ranks.
    3. final games; (Aug.9 - 10)
      Final games are done in tournament form.
      1. At first, tournament games will be done between the 1st teams of a league (A1, B1) and the 2nd team of the other leagues (A2, B2)- A1 vs. B2 and B1 vs. A2.
        Each teams will do rescue operation at three different maps. A1 and B2 use maps {a3_m', b3_m', a4_m'}, and B1 and A2 use maps {a3_m', b3_m', b4_m'} where m' is not m, namely the map NOT used in preliminary games.
        They get winning points for each map. The total winning points of the three maps determines winners.
      2. The final and the 3rd place final games are done using their own maps.
        In the following example case, the final games is A1 vs. B1, and 3rd place final is A2 vs. B2.
        The final games use only one map. In the example case, A1 and B1 use one of maps{a2_m', b2_m'}, and A2 and B2 use one of maps {a1_m', b1_m'} where m' is not m, namely the other map NOT used in preliminary games.
        Coin toss before games determine the choice of maps. 
                    A1 ----+
                   |
                   +--- A1
                   |
            B2 ----+
            B1 ----+
                   |
                   +----B1
                   |
            A2 ----+
        caution 2: The maps that every team prepares are key for rescue simulations. We hope that every team checks your own maps by your agents.
        Thanks in advances for preparing good maps.

    B) Rules

    caution 3: On July 20, in Rescue HomePage , a package (version number 31) including Kernel and simulators can be downloaded. In Seattle, a package with version number that is later than 31 will be used.

    1. Field

    1/10 model of Kobe map.
    (Fields that every team submits at Aug. 3 are used.
    The original Kobe map can be edited by using Hatayama's tool .

  4. Agents

    1. numbers of agent:
      1. Fire Brigade 10
      2. Police Force 10
      3. Ambulance 5
      4. Civilian 72
      5. Fire Brigade Center 1
      6. Police Force Center 1
      7. Ambulance Center 1
    2. agents prepared by committee
      Civilian, Police Force, Ambulance:
      1. Civilian:
        The committee will provide two kinds of civilian.
        Type one is modified Koto's sample agent. The agent will be modified to tell "HELP".
        The other agent (type two) is provided form Nakanishi, Kobe University.
        The number of type one civilian is 60 and the number of type two is 12.
        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. The 12 agents can "say" (NOT "tell") to other agents.
        • To prohibit following message-chain,
          Agent-1 says "HELP me".
          Agent-2 hears Agent-1 say "HELP me", and Agent-2 says "Hear HELP @place xx @time t",
          Agent-3 hears Agent-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".
        • @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.
      2. Police Force, Ambulance:
        Sample agents are used.
    3. agents that a rescue team prepares
      1. Fire Brigade:
        A team must make Fire Brigade agent.
      2. Police Force, Ambulance:
        A team may make Police Force, Ambulance agents, otherwise sample agents are used as your rescue team member.
      3. 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.
    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.

  5. Fair Play (Gentlemen) rules

    1. Fire Brigade:
      • extinguish power < 1,000,
      • not water fires that are farther 30m from the agent,
      • cannot expand its fire hose,
      • not go around before buildings start to burn.
    2. Police Force:
    3. Ambulance:
      • execute AK_RESCUE before AK_LOAD,
      • only AK_TELL and AK_SAY can be sent when buridness > 0.
    4. Civilian:
      • pretend that it cannot see buried agents, although actually it see them.
        (cf, 2-2: it can hear their voice.)
      • when it's DAMAGE > some value, it don't move (at present, it moves after it is saved, so ambulance agent cannot load it).
    5. Others
      • agents can tell (or say ) Max 4 sentences (in terms of simple sentence) per 1 turn.
      • 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.

  6. Condition of competition

    1. parameters of competition map:
      GIS data with variable parameters is provided. The parameters are ignition points number (1-5); their positions, the positions of rescue agents and other agents.
      Each participant team must prepare two different fields by changing the parameters.
      Hatayama, Kyoto University offered tools to change the parameters.
    2. Preliminary and finals: cf. schedules.
    3. Evaluation rule: 2001's principle is "Human life is the most valuable". cf. schedules.
    4. parameters:
      Simulation time: 300 steps.
      The range of eyesight is 30m.
      The range of voice is 30m.
      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.

  7. Others

    1. the rule will be used in 2001 RoboCup competitions,
    2. remote entry is ok,
    3. source code must be open after competition,
    4. Log files will be open,
    5. Linux version Fire simulator is used a fire simulator.