RoboCup 2001 Rescue Simulation Leagues

Index
A) Schedules and Competition Rules

1. Team meeting; (Aug. 3  from 13:00)
2. Preliminary games; (Aug. 4-6)
3. Final games; (Aug.9 - 10)
4. Valid games.

B) Game Rules

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

A) Schedules and Competition Rules

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 .
   The team can only change the number of ignition points, and the position of the ignition points & agents.
2. Preliminary games; (Aug. 4-6)
   Game will be played in the way described below. The number of entries teams are ten teams.
   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 has two maps, we say map_1 and map_2. The map_1s are used in the preliminary games and the map_2s are used in the final games.
      After this, we use a notification <team label>_<map number> that refers to the map that the team prepares.
      For example, a5_1 is the map_1 of team a5 in group A has, and a5_2 is the other map_2.
   2. All team selects one of their maps for preliminary games. There are five maps in each group, {a1_1, a2_1, a3_1, a4_1, a5_1} and {b1_1, b2_1, b3_1, b4_1, b5_1}.
      The maps are different each other, because each team will edit parameters independently.
   3. The teams in the league A will do rescue operations at the maps { a1_1, a2_1, a3_1, a4_1 and a5_1 }. Also the teams in the league B will do at the maps { b1_1, b2_1, b3_1, b4_1 and b5_1 }. For each map, 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. Teams get points from 4*5 to 0 by doing rescue operations for 5 maps.
      
   4. 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.
   Total 25 * 2games are done during 3days.
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 teams of the other league (A2, B2)- A1 vs. B2 and B1 vs. A2.
      Each team will do rescue operation at three different maps. A1 and B2 use maps {A3_2, B3_2, A4_2}. B1 and A2 use maps {A3_2, B3_2, B4_2}. Namely they use the map NOT used in preliminary games of the 3rd and 4th place teams.
      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 use only one map. The final game use one of the maps of the losers of semi-finals. The 3rd place final game use one of the maps of the winners of semi-finals.
      In the following example case that A1 and A2 win the semi-finals, the final games is A1 vs. A2, and 3rd place final is B1 vs. B2.
      The final game between A1 and A2 use one of maps{B1_2, B2_2}, and the 3rd place final between B1 and B2 use one of maps {A1_2, A2_2} .
      Coin toss before games determines the choice of maps.

            A1 ----+
                   |   
                   +--- A1+              B2+  
                   |      |                |
            B2 ----+      |  final         | 3rd place
            B1 ----+      +---             +---
                   |      |                |
                   +----A2+              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.
4. 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,
   • 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.
   • 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.

B) Game Rules

1. Field

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.
      The first (type I) is modified Koto's sample agent. The agent will be modified to tell "HELP".
      The other agent (type II) is provided from Nakanishi, Kobe University.
      The number of type I civilian is 60 and Type I agent will tell "HELP me".
      
      The number of type II is 12 and Type II 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.
      caution 4: The agents of YabAI (the winner of JapanOpen 2001) are contained in the package with version number 0.30 and later. You are not allowed to use YabAI's agents as sample agents, while you can use sample agents contained in the package with version with 0.29 and before.
3. agents that a team prepares
   1. Fire Brigade:
      A team must make Fire Brigade agent.
   2. Police Force, Ambulance:
      A team may make Police Force, Ambulance agents. Or committee prepared agents (2.2) are used as your 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 committee prepared 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.

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,
     (obsolete rule!, Kernel checks this action.)
   • not go around before buildings start to burn.
     (obsolete rule! the followings explain the background.)
     1. Fire brigade agents do not use IGNITION information. (Actually, kernel (later than 0.29 ) does not send the ignition information to agents. The library is designed to set 0 value when there are no information from kernel. Consequently, agents see buildings with ignition = 0.)
     2. A team can set the initial position of fire brigade agents for the map that they prepared. The team is responsible to set the position by checking simulations using your agents. (Caution: The fire brigade agents must NOT make use of the information of maps that they prepared.)
     3. Fire brigade agents can start rescue operation from any time. (At present, kernel does not send any information on fireness at time=1. Kernel sends effective information from time=2. This specification of kernel will be discussed at version 1.)
     4. The above three items are applied to other rescue agents.
2. Police Force:
3. Ambulance:
   (obsolete rule!, Kernel checks these two commands.)
   • 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. ALL:
   • 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.

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".
   

        V = L + 1 - (H/Hint * B/Bmax)
        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 are NOT burnt.
        Hint: the total HP of all agents at the initial time.
        Bmax: the are of fields         
                

   The less V value, the better rescue operation.
4. parameters:
   Simulation time: 300 steps.
   The range of eyesight is 10m.
   The range of voice is 30m.
   
5. 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.

Others

1. remote entry is OK,
2. source code must be open after competition,
3. Log files will be open,
4. Linux version Fire simulator is used a fire simulator.