RoboCup Rescue Simulator Tutorial core

Introduction

官方文件中重要目录

-/boot: scripts of execution of the simulator
-存有模拟器的“执行文件”
-/boot/config: configuration files of the simulator
-存有模拟器的配置文件
-/build: the simulator’s Java classes
-模拟器JAVA类库
-/docs: javadoc documentation of the simulator
-/jars: the simulator’s JAR files
-/maps: maps that can be ran in the simulator
-可用地图，注意不同的地图难度不同，会有不同的结果。

运行

1.在boot目录输入./start.sh
不要在后面加option否则模拟器不会运行
2.如果是第一次测试，可以运行模拟器提供的样例，在boot目录打开一个新的终端输入./sampleagents.sh
3.点击Kernel GUI中的Run
4.结束程序运行，找到终端窗口并按Ctrl-C

模拟器解释

1.clear 控制黑色路障清楚
2.collapse 制造房屋损坏，路障
3.ignition 扇风点火
4.fire 控制火势
5.traffic 人的移动
6.misc 控制人的损伤和掩埋
7.kernel 以上所有与其通信并受其控制
以上均为模拟器控制

一些值得注意的点

-时间是离散的，3秒一周期
-对于每个agent来说整个世界都是部分可测的,就是说即使这个agent在厉害，也不能看到这个世界的全部
-agent的行动是交互的
具体过程如下

1. The kernel updates all agents’ perception (visual and communication) and waits for the agents’ commands.
2. The agents updates their world model and make their decisions, sending their commands to the kernel.
3. The kernel sends the agents’ commands to the simulators.
4. The simulators process the agents’ commands and send the changes suffered by the environment back to the kernel.
5. The kernel sends the environment changes to the viewers.

模拟实体

路障

包括：
-在哪条路上
-清理时间
-一个包围路障的矩形
-中心坐标
-路障尖端向量

区域

包括：
-建筑物和路
-路上的路障列表
-区域边缘
-记录自己的邻居
-区域的坐标
路障只会存在于路中

buildings

! Special buildings

Properties
• brokenness: how structurally damaged the building is; does not change during the simulation
• fieryness: the intensity of the fire and fire-related damage in the building – UNBURNT (not burnt at all) – WATER DAMAGE (not burnt at all, but has water damage) – HEATING (on fire a bit) – BURNING (on fire a bit more) – INFERNO (on fire a lot) – MINOR DAMAGE (extinguished but minor damage) – MODERATE DAMAGE (extinguished but moderate damage) – SEVERE DAMAGE (extinguished but major damage) – BURNT OUT (completely burnt out)
• ground area: the area of each floor
• importance: (unknown function; has equal values to all buildings) • temperature: temperature of the building; if it crosses a certain threshold, the building catches on fire
• total area: the total area of the building (floors⇥ground area)