RoboCup Rescue Simulator v2.0

This release contain major changes:

• Use of ProtoBuf for message exchange
• Directory reorganization
• Removal of the Sample Agent code
• Documentation
• Integration to jitpack.io

RoboCup Rescue Simulator v1.5

RoboCup Rescue Simulator with all the simulators including the fire simulator.

RoboCup Rescue Simulator - 2020 Online Competition

This release implements some changes to the RoboCup Rescue Simulator (RCRS) that are going to be experimented during the 2020 Online RoboCup Rescue Agent Simulation competition.

The major changes implemented are:

1. Scenarios without fires [see Section No Fire Simulator]
2. Fire Brigades allowed to rescue civilians [see Section No Fire Simulator]
3. Refuges with limited capacity [see Section Refuge Capacity]

The changes were motivated (1) to make the simulation scenarios more realistic and (2) to allow teams to focus on a particular rescue challenge, i.e., civilian rescue. The realism of the simulation scenarios comes from the fact that in real earthquake situations, few to no fire spots are observed and those observed are mostly restricted to a building or a small area, while in the simulator the fire dominates the simulation if not controlled in its initial state. By eliminating the fire from scenarios, the most relevant challenge in the competition becomes the rescue of trapped civilians and their transportation to refuges. However, because refuges now have a limited capacity, the ambulances will have to decide where to transport their victims instead of simply taking them to the closest refuge.

1. No Fire Simulator

Aiming to make the simulation more realistic, the fires were eliminated from the simulation. Consequently, the Fire Brigades lost their main goal in the simulation, i.e., extinguish fire. In order to keep the Fire Brigades and split the responsibilities in the simulation, the Fire Brigades become allowed to rescue trapped civilians freeing Ambulance Teams to the transportation of the injured civilians to refuges.

Thus, the available commands that each agent can issue are:

Fire Brigades

• RESCUE
• EXTINGUISH (Useless at the moment)

Ambulance Teams

• LOAD
• UNLOAD
• RESCUE

Police Forces

• CLEAR

2. Refuge Capacity

The purpose of the change is make the simulation more realistic by limiting the capacity of refuges. This means that refuges cannot accept all injured civilians brought by Ambulance Teams for treatment. Refuges will have a capacity that cannot be exceeded at each moment in time.

The changes in the simulator adds several capacity properties to the refuges:

• bedCapacity - total number of beds available in the refuge
• occupiedBeds - number of occupied bed in the refuge
• waitingListSize - number of civilians already waiting for treatment in the refuge

These properties are provided to Ambulance Centres every simulation timestep. Ambulance Teams can obtain this information from Ambulance Centres or when they are inside the refuge.

When an Ambulance Team unloads a civilian in a refuge:

1. If the number of occupied beds is less than the bed capacity (i.e., there are free beds), the civilian's HP property becomes constant, and the Damage property decreases gradually at each step. When the Damage reaches zero, then the victim is released from the bed.

2. If there is no free bed in the refuge, the civilian is included into the waiting list. This waiting list works as a First-In First-Out strategy, thus whenever a bed becomes available, the first civilian in the waiting list is moved to bed. When a civilian is in a waiting list, its Damage and HP properties operate as the civilian was outside of the refuge without assistance. This means that the Damage property increases and the HP property decreases over time and if HP reaches zero, then the civilian dies even being inside the refuge.

Hence, this refuge capacity requires that Ambulance Teams to decide where to transport the civilians they load taking into consideration the information about each refuge that they receive from the Ambulance Centre.

RoboCup Rescue Simulator v1.3

Merge branch 'AuraRobotics-viewer-event-logger' into master

RoboCup Rescue Simulator v1.2

Merge pull request #20 from armanaxh/misc-debuging

Misc debuging