init

maps/eindhoven/config/ignition.cfg

+!include common.cfg
+
+# The lambda value of the Poisson distribution used to choose how many fires to ignite per timestep
+ignition.random.lambda: 0.000001
+
+ignition.gas_station.explosion.range:60000
\ No newline at end of file

maps/eindhoven/config/kernel-inline.cfg

+!include common.cfg
+!include gis.cfg
+!include comms.cfg
+!include perception.cfg
+!include score.cfg
+
+# Also include configs for simulators and agents
+!include collapse.cfg
+!include clear.cfg
+!include misc.cfg
+!include resq-fire.cfg
+!include traffic3.cfg
+!include ignition.cfg
+!include civilian.cfg
+!include sample-agents.cfg
+!include viewer.cfg
+
+# Name of the kernel log file
+kernel.logname: ../logs/rescue.log
+
+# Number of timesteps to run
+kernel.timesteps: 240
+
+# The simulation termination conditions
+kernel.termination: kernel.TimestepTerminationCondition
+#kernel.termination: kernel.TimestepTerminationCondition rescuecore2.standard.kernel.CiviliansDeadOrRescuedTerminationCondition
+
+# The amount of time (ms) agents have to send commands each timestep
+kernel.agents.think-time: 1000
+# Number of timesteps that agents commands are ignored
+kernel.agents.ignoreuntil: 3
+
+# List of command collectors to use
+kernel.commandcollectors: kernel.TimedCommandCollector
+#kernel.commandcollectors: kernel.TimedCommandCollector rescuecore2.standard.kernel.StandardCommandCollector
+
+# List of command filters to use
+kernel.commandfilters +: kernel.WrongTimeCommandFilter
+kernel.commandfilters +: kernel.FrozenAgentsCommandFilter
+kernel.commandfilters +: rescuecore2.standard.kernel.DeadAgentsCommandFilter
+kernel.commandfilters +: rescuecore2.standard.kernel.BuriedAgentsCommandFilter
+kernel.commandfilters +: rescuecore2.standard.kernel.SingleCommandFilter
+
+# The agent registrar
+kernel.agents.registrar: rescuecore2.standard.kernel.StandardAgentRegistrar
+
+# The amount of time agents have to start up
+kernel.startup.connect-time: 300000 # 5 minute startup time
+# kernel.startup.connect-time: 10000 # 10 second startup time
+
+# Automatic choice of GIS
+kernel.gis.auto: gis2.GMLWorldModelCreator
+
+# Automatic choice of perception
+kernel.perception.auto: rescuecore2.standard.kernel.LineOfSightPerception
+
+# Automatic choice of communication model
+kernel.communication.auto: rescuecore2.standard.kernel.comms.ChannelCommunicationModel
+
+# Automatically start simulators/viewers/agents
+kernel.simulators.auto +: collapse.CollapseSimulator
+kernel.simulators.auto +: clear.ClearSimulator
+kernel.simulators.auto +: misc.MiscSimulator
+kernel.simulators.auto +: firesimulator.FireSimulatorWrapper
+kernel.simulators.auto +: traffic3.simulator.TrafficSimulator
+kernel.simulators.auto +: ignition.IgnitionSimulator
+
+kernel.viewers.auto +: sample.SampleViewer
+
+kernel.agents.auto +: sample.SampleFireBrigade*n
+kernel.agents.auto +: sample.SamplePoliceForce*n
+kernel.agents.auto +: sample.SampleAmbulanceTeam*n
+kernel.agents.auto +: sample.SampleCentre*n
+kernel.agents.auto +: sample.SampleCivilian*n
+
+# Kernel UI components
+kernel.ui.components: rescuecore2.standard.kernel.StandardWorldModelViewerComponent

maps/eindhoven/config/kernel.cfg

+!include common.cfg
+!include gis.cfg
+!include comms.cfg
+!include perception.cfg
+!include score.cfg
+
+# Also include configs for simulators and agents
+!include collapse.cfg
+!include clear.cfg
+!include misc.cfg
+!include resq-fire.cfg
+!include traffic3.cfg
+!include ignition.cfg
+!include civilian.cfg
+!include sample-agents.cfg
+!include viewer.cfg
+
+# Name of the kernel log file
+kernel.logname: ../logs/rescue.log
+
+# Number of timesteps to run
+kernel.timesteps: 240
+
+# The simulation termination conditions
+kernel.termination: kernel.TimestepTerminationCondition
+#kernel.termination: kernel.TimestepTerminationCondition rescuecore2.standard.kernel.CiviliansDeadOrRescuedTerminationCondition
+
+# The amount of time (ms) agents have to send commands each timestep
+kernel.agents.think-time: 1000
+# Number of timesteps that agents commands are ignored
+kernel.agents.ignoreuntil: 3
+
+# List of command collectors to use
+kernel.commandcollectors: kernel.TimedCommandCollector
+#kernel.commandcollectors: kernel.TimedCommandCollector rescuecore2.standard.kernel.StandardCommandCollector
+
+# List of command filters to use
+kernel.commandfilters +: kernel.WrongTimeCommandFilter
+kernel.commandfilters +: kernel.FrozenAgentsCommandFilter
+kernel.commandfilters +: rescuecore2.standard.kernel.DeadAgentsCommandFilter
+kernel.commandfilters +: rescuecore2.standard.kernel.BuriedAgentsCommandFilter
+kernel.commandfilters +: rescuecore2.standard.kernel.SingleCommandFilter
+
+# The agent registrar
+kernel.agents.registrar: rescuecore2.standard.kernel.StandardAgentRegistrar
+
+# The amount of time agents have to start up
+kernel.startup.connect-time: 300000 # 5 minute startup time
+# kernel.startup.connect-time: 10000 # 10 second startup time
+
+# Automatic choice of GIS
+kernel.gis.auto: gis2.GMLWorldModelCreator
+
+# Automatic choice of perception
+kernel.perception.auto: rescuecore2.standard.kernel.LineOfSightPerception
+
+# Automatic choice of communication model
+kernel.communication.auto: rescuecore2.standard.kernel.comms.ChannelCommunicationModel
+
+# Kernel UI components
+kernel.ui.components: rescuecore2.standard.kernel.StandardWorldModelViewerComponent

maps/eindhoven/config/logviewer.cfg

+!include score.cfg
+
+log.viewers : rescuecore2.standard.view.StandardWorldModelViewer
+
+viewer.standard.AreaNeighboursLayer.visible : false
+viewer.standard.CommandLayer.visible : false
+viewer.standard.PositionHistoryLayer.visible : false

maps/eindhoven/config/misc.cfg

+!include common.cfg
+
+# Degrees of buriedness for building codes and levels of collapse
+misc.buriedness.wood.none.value: 0
+misc.buriedness.wood.partial.value: 20
+misc.buriedness.wood.half.value: 30
+misc.buriedness.wood.all.value: 60
+
+misc.buriedness.steel.none.value: 0
+misc.buriedness.steel.partial.value: 20
+misc.buriedness.steel.half.value: 35
+misc.buriedness.steel.all.value: 70
+
+misc.buriedness.concrete.none.value: 0
+misc.buriedness.concrete.partial.value: 35
+misc.buriedness.concrete.half.value: 60
+misc.buriedness.concrete.all.value: 80
+
+# Buriedness rates for building codes and levels of collapse
+misc.buriedness.wood.none.rate: 0
+misc.buriedness.wood.partial.rate: 1
+misc.buriedness.wood.half.rate: 1
+misc.buriedness.wood.all.rate: 1
+
+misc.buriedness.steel.none.rate: 0
+misc.buriedness.steel.partial.rate: 0.008
+misc.buriedness.steel.half.rate: 0.008
+misc.buriedness.steel.all.rate: 0.008
+
+misc.buriedness.concrete.none.rate: 0
+misc.buriedness.concrete.partial.rate: 0.008
+misc.buriedness.concrete.half.rate: 0.008
+misc.buriedness.concrete.all.rate: 0.008
+
+# Injury rates for collapse damage
+misc.injury.collapse.wood.none.slight: 0
+misc.injury.collapse.wood.none.serious: 0
+misc.injury.collapse.wood.none.critical: 0
+misc.injury.collapse.wood.partial.slight: 0.5
+misc.injury.collapse.wood.partial.serious: 0.3
+misc.injury.collapse.wood.partial.critical: 0.02
+misc.injury.collapse.wood.half.slight: 0.5
+misc.injury.collapse.wood.half.serious: 0.3
+misc.injury.collapse.wood.half.critical: 0.02
+misc.injury.collapse.wood.all.slight: 0.5
+misc.injury.collapse.wood.all.serious: 0.3
+misc.injury.collapse.wood.all.critical: 0.02
+
+misc.injury.collapse.steel.none.slight: 0
+misc.injury.collapse.steel.none.serious: 0
+misc.injury.collapse.steel.none.critical: 0
+misc.injury.collapse.steel.partial.slight: 0.1
+misc.injury.collapse.steel.partial.serious: 0.03
+misc.injury.collapse.steel.partial.critical: 0.005
+misc.injury.collapse.steel.half.slight: 0.1
+misc.injury.collapse.steel.half.serious: 0.03
+misc.injury.collapse.steel.half.critical: 0.005
+misc.injury.collapse.steel.all.slight: 0.1
+misc.injury.collapse.steel.all.serious: 0.03
+misc.injury.collapse.steel.all.critical: 0.005
+
+misc.injury.collapse.concrete.none.slight: 0
+misc.injury.collapse.concrete.none.serious: 0
+misc.injury.collapse.concrete.none.critical: 0
+misc.injury.collapse.concrete.partial.slight: 0.1
+misc.injury.collapse.concrete.partial.serious: 0.03
+misc.injury.collapse.concrete.partial.critical: 0.005
+misc.injury.collapse.concrete.half.slight: 0.1
+misc.injury.collapse.concrete.half.serious: 0.03
+misc.injury.collapse.concrete.half.critical: 0.005
+misc.injury.collapse.concrete.all.slight: 0.1
+misc.injury.collapse.concrete.all.serious: 0.03
+misc.injury.collapse.concrete.all.critical: 0.005
+
+misc.injury.collapse.slight: 2
+misc.injury.collapse.serious: 10
+misc.injury.collapse.critical: 10000
+
+misc.injury.collapse.multiplier.ambulance: 0.2
+misc.injury.collapse.multiplier.police: 0.2
+misc.injury.collapse.multiplier.fire: 0.2
+
+# Injury rates for buriedness damage
+misc.injury.bury.wood.none.slight: 0
+misc.injury.bury.wood.none.serious: 0
+misc.injury.bury.wood.none.critical: 0
+misc.injury.bury.wood.partial.slight: 0.4
+misc.injury.bury.wood.partial.serious: 0.5
+misc.injury.bury.wood.partial.critical: 0.1
+misc.injury.bury.wood.half.slight: 0.4
+misc.injury.bury.wood.half.serious: 0.5
+misc.injury.bury.wood.half.critical: 0.1
+misc.injury.bury.wood.all.slight: 0.4
+misc.injury.bury.wood.all.serious: 0.5
+misc.injury.bury.wood.all.critical: 0.1
+
+misc.injury.bury.steel.none.slight: 0
+misc.injury.bury.steel.none.serious: 0
+misc.injury.bury.steel.none.critical: 0
+misc.injury.bury.steel.partial.slight: 0.4
+misc.injury.bury.steel.partial.serious: 0.5
+misc.injury.bury.steel.partial.critical: 0.1
+misc.injury.bury.steel.half.slight: 0.4
+misc.injury.bury.steel.half.serious: 0.5
+misc.injury.bury.steel.half.critical: 0.1
+misc.injury.bury.steel.all.slight: 0.4
+misc.injury.bury.steel.all.serious: 0.5
+misc.injury.bury.steel.all.critical: 0.1
+
+misc.injury.bury.concrete.none.slight: 0
+misc.injury.bury.concrete.none.serious: 0
+misc.injury.bury.concrete.none.critical: 0
+misc.injury.bury.concrete.partial.slight: 0.4
+misc.injury.bury.concrete.partial.serious: 0.5
+misc.injury.bury.concrete.partial.critical: 0.1
+misc.injury.bury.concrete.half.slight: 0.4
+misc.injury.bury.concrete.half.serious: 0.5
+misc.injury.bury.concrete.half.critical: 0.1
+misc.injury.bury.concrete.all.slight: 0.4
+misc.injury.bury.concrete.all.serious: 0.5
+misc.injury.bury.concrete.all.critical: 0.1
+
+misc.injury.bury.slight: 3
+misc.injury.bury.serious: 15
+misc.injury.bury.critical: 100
+
+misc.injury.bury.multiplier.ambulance: 0.2
+misc.injury.bury.multiplier.police: 0.2
+misc.injury.bury.multiplier.fire: 0.2
+
+# Injury rates for fire damage
+misc.injury.fire.wood.none.slight: 0.4
+misc.injury.fire.wood.none.serious: 0.2
+misc.injury.fire.wood.none.critical: 0.1
+misc.injury.fire.wood.partial.slight: 0.4
+misc.injury.fire.wood.partial.serious: 0.2
+misc.injury.fire.wood.partial.critical: 0.1
+misc.injury.fire.wood.half.slight: 0.4
+misc.injury.fire.wood.half.serious: 0.2
+misc.injury.fire.wood.half.critical: 0.1
+misc.injury.fire.wood.all.slight: 0.4
+misc.injury.fire.wood.all.serious: 0.2
+misc.injury.fire.wood.all.critical: 0.1
+
+misc.injury.fire.steel.none.slight: 0.4
+misc.injury.fire.steel.none.serious: 0.2
+misc.injury.fire.steel.none.critical: 0.1
+misc.injury.fire.steel.partial.slight: 0.4
+misc.injury.fire.steel.partial.serious: 0.2
+misc.injury.fire.steel.partial.critical: 0.1
+misc.injury.fire.steel.half.slight: 0.4
+misc.injury.fire.steel.half.serious: 0.2
+misc.injury.fire.steel.half.critical: 0.1
+misc.injury.fire.steel.all.slight: 0.4
+misc.injury.fire.steel.all.serious: 0.2
+misc.injury.fire.steel.all.critical: 0.1
+
+misc.injury.fire.concrete.none.slight: 0.4
+misc.injury.fire.concrete.none.serious: 0.2
+misc.injury.fire.concrete.none.critical: 0.1
+misc.injury.fire.concrete.partial.slight: 0.4
+misc.injury.fire.concrete.partial.serious: 0.2
+misc.injury.fire.concrete.partial.critical: 0.1
+misc.injury.fire.concrete.half.slight: 0.4
+misc.injury.fire.concrete.half.serious: 0.2
+misc.injury.fire.concrete.half.critical: 0.1
+misc.injury.fire.concrete.all.slight: 0.4
+misc.injury.fire.concrete.all.serious: 0.2
+misc.injury.fire.concrete.all.critical: 0.1
+
+misc.injury.fire.slight: 5
+misc.injury.fire.serious: 20
+misc.injury.fire.critical: 100
+
+misc.injury.fire.multiplier.ambulance: 1
+misc.injury.fire.multiplier.police: 1
+misc.injury.fire.multiplier.fire: 0.2
+
+# Damage progression
+misc.injury.collapse.k: 0.00025
+misc.injury.collapse.l: 0.01
+misc.injury.collapse.noise.mean: 0.1
+misc.injury.collapse.noise.sd: 0.01
+
+misc.injury.bury.k: 0.000035
+misc.injury.bury.l: 0.01
+misc.injury.bury.noise.mean: 0.1
+misc.injury.bury.noise.sd: 0.01
+
+misc.injury.fire.k: 0.00025
+misc.injury.fire.l: 0.03
+misc.injury.fire.noise.mean: 0.1
+misc.injury.fire.noise.sd: 0.01

maps/eindhoven/config/perception.cfg

+# Legacy perception module parameters
+perception.standard.view-distance:        30000
+perception.standard.use-far-fires:        true
+perception.standard.far-fire-distance:    50000
+perception.standard.hp-precision:         1000
+perception.standard.damage-precision:     100
+
+# Line of sight perception parameters
+perception.los.max-distance: 60000
+perception.los.ray-count: 72
+perception.los.precision.hp: 900
+perception.los.precision.damage: 80

maps/eindhoven/config/resq-fire.cfg

+!include common.cfg
+
+# Synonyms
+resq-fire.water_capacity:130000
+fire.tank.maximum:130000
+
+resq-fire.water_refill_rate:18000
+fire.tank.refill_rate: 18000
+
+resq-fire.water_hydrant_refill_rate: 7000
+fire.tank.refill_hydrant_rate: 7000
+
+resq-fire.water_distance:90000
+fire.extinguish.max-distance:90000
+
+fire.extinguish.max-sum: 20000
+resq-fire.max_extinguish_power_sum:20000
+
+# Fire simulator options
+resq-fire.rays.dir:rays
+
+resq-fire.wind_speed:0
+resq-fire.steel_capacity:1.0
+resq-fire.wooden_energy:2400.0
+resq-fire.cell_size:5000
+resq-fire.air_cell_heat_capacity:0.004
+resq-fire.wooden_ignition:47.0
+resq-fire.water_thermal_capacity: 20
+resq-fire.steel_burning:850.0
+resq-fire.concrete_energy:350.0
+resq-fire.air_to_air_flow:1.0
+resq-fire.gamma:0.2
+resq-fire.ambulancecenter_inflammable:false
+resq-fire.steel_ignition:47.0
+resq-fire.wind_random:1
+resq-fire.radiation_coefficient: 0.011
+resq-fire.steel_energy:800.0
+resq-fire.wooden_burning:800.0
+resq-fire.refuge_inflammable:false
+resq-fire.policeoffice_inflammable:false
+resq-fire.air_to_building_flow:0.0015
+resq-fire.concrete_burning:800.0
+resq-fire.wooden_capacity:1.1
+resq-fire.concrete_ignition:47.0
+resq-fire.wind_direction:120.0
+resq-fire.concrete_speed:0.05
+resq-fire.firestation_inflammable:false
+resq-fire.steel_speed:0.05
+resq-fire.randomseed:25
+resq-fire.concrete_capacity:1.5
+resq-fire.wooden_speed:0.05
+resq-fire.energy_loss:0.86
+
+resq-fire.ray_rate: 0.0025
+resq-fire.max_ray_distance: 200000
+
+resq-fire.burn-rate-average: 0.10
+resq-fire.burn-rate-variance: 0.01

maps/eindhoven/config/sample-agents.cfg

+!include common.cfg
\ No newline at end of file

maps/eindhoven/config/score.cfg

+score.function: rescuecore2.standard.score.LegacyScoreFunction
+
+score.standard.building-fire.heating: 0.66
+score.standard.building-fire.burning: 0.33
+score.standard.building-fire.inferno: 0.0
+score.standard.building-fire.water-damage: 0.90
+score.standard.building-fire.minor-damage: 0.75
+score.standard.building-fire.moderate-damage: 0.5
+score.standard.building-fire.severe-damage: 0.25
+score.standard.building-fire.burnt-out: 0
+score.standard.building-fire.absolute: false
+
+score.standard.health.absolute: false

maps/eindhoven/config/traffic3.cfg

+!include common.cfg
+
+traffic3.nudge-magnitude=0.001
+traffic3.agent.force.coefficient.A=0.0001
+traffic3.agent.force.coefficient.B=0.001
+traffic3.agent.force.coefficient.K=0.00001
+traffic3.agent.distance.cutoff=10000
+traffic3.agent.force.limit=0.0001
+
+traffic3.wall.distance.cutoff=10000
+traffic3.wall.force.coefficient.A=0.01
+traffic3.wall.force.coefficient.B=0.7
+
+traffic3.rescue-agent.velocity.mean=0.7
+traffic3.rescue-agent.velocity.sd=0.1
+
+traffic3.civilian.velocity.mean=0.2
+traffic3.civilian.velocity.sd=0.002

maps/eindhoven/config/types.cfg

+# Where to look for jars that might contain factories, gis, perception, communication, agents, simulators, viewers.
+loadabletypes.inspect.dir: ../jars
+# Whether to inspect jars for likely-looking class names. If false (or "no") then only the manifest will be read. If true (or "yes") then all classes in the jar will be tested to see if they are implementations of the various interfaces.
+loadabletypes.inspect.deep: yes

maps/eindhoven/config/viewer.cfg

+!include common.cfg
+!include score.cfg
+
+log.viewers : rescuecore2.standard.view.StandardWorldModelViewer
+
+viewer.standard.AreaNeighboursLayer.visible : false
+#viewer.standard.CommandLayer.visible : false
+viewer.standard.PositionHistoryLayer.visible : false
+
+view.standard.human.icons.size: 24
+view.standard.human.icons.use: no

maps/eindhoven/map/scenario.xml

+<?xml version="1.0" encoding="UTF-8"?>
+
+<scenario:scenario xmlns:scenario="urn:roborescue:map:scenario">
+  <scenario:refuge scenario:location="72119" scenario:bedCapacity="20" />
+  <scenario:refuge scenario:location="65751" scenario:bedCapacity="20" />
+  <scenario:refuge scenario:location="64359" scenario:bedCapacity="20" />
+  <scenario:refuge scenario:location="49175" scenario:bedCapacity="20" />
+  <scenario:refuge scenario:location="49705" scenario:bedCapacity="20" />
+  <scenario:refuge scenario:location="70232" scenario:bedCapacity="20" />
+  <scenario:refuge scenario:location="67531" scenario:bedCapacity="20" />
+  <scenario:civilian scenario:location="12419" />
+  <scenario:civilian scenario:location="72614" />
+  <scenario:civilian scenario:location="24128" />
+  <scenario:civilian scenario:location="46065" />
+  <scenario:civilian scenario:location="36026" />
+  <scenario:civilian scenario:location="27926" />
+  <scenario:civilian scenario:location="18665" />
+  <scenario:civilian scenario:location="72693" />
+  <scenario:civilian scenario:location="56846" />
+  <scenario:civilian scenario:location="16784" />
+  <scenario:civilian scenario:location="24083" />
+  <scenario:civilian scenario:location="71473" />
+  <scenario:civilian scenario:location="5811" />
+  <scenario:civilian scenario:location="5009" />
+  <scenario:civilian scenario:location="36818" />
+  <scenario:civilian scenario:location="44961" />
+  <scenario:civilian scenario:location="67319" />
+  <scenario:civilian scenario:location="52253" />
+  <scenario:civilian scenario:location="63481" />
+  <scenario:civilian scenario:location="68735" />
+  <scenario:civilian scenario:location="73348" />
+  <scenario:civilian scenario:location="5689" />
+  <scenario:civilian scenario:location="11600" />
+  <scenario:civilian scenario:location="72252" />
+  <scenario:civilian scenario:location="4025" />
+  <scenario:civilian scenario:location="25532" />
+  <scenario:civilian scenario:location="68706" />
+  <scenario:civilian scenario:location="18269" />
+  <scenario:civilian scenario:location="22211" />
+  <scenario:civilian scenario:location="25064" />
+  <scenario:civilian scenario:location="64773" />
+  <scenario:civilian scenario:location="70199" />
+  <scenario:civilian scenario:location="4113" />
+  <scenario:civilian scenario:location="12292" />
+  <scenario:civilian scenario:location="65051" />
+  <scenario:civilian scenario:location="46148" />
+  <scenario:civilian scenario:location="10227" />
+  <scenario:civilian scenario:location="3729" />
+  <scenario:civilian scenario:location="64634" />
+  <scenario:civilian scenario:location="19502" />
+  <scenario:civilian scenario:location="27161" />
+  <scenario:civilian scenario:location="7448" />
+  <scenario:civilian scenario:location="11227" />
+  <scenario:civilian scenario:location="13625" />
+  <scenario:civilian scenario:location="7441" />
+  <scenario:civilian scenario:location="10378" />
+  <scenario:civilian scenario:location="41971" />
+  <scenario:civilian scenario:location="20285" />
+  <scenario:civilian scenario:location="67260" />
+  <scenario:civilian scenario:location="16253" />
+  <scenario:civilian scenario:location="69738" />
+  <scenario:civilian scenario:location="23507" />
+  <scenario:civilian scenario:location="33947" />
+  <scenario:civilian scenario:location="2061" />
+  <scenario:civilian scenario:location="25037" />
+  <scenario:civilian scenario:location="5589" />
+  <scenario:civilian scenario:location="13049" />
+  <scenario:civilian scenario:location="30275" />
+  <scenario:civilian scenario:location="3852" />
+  <scenario:civilian scenario:location="31841" />
+  <scenario:civilian scenario:location="69491" />
+  <scenario:civilian scenario:location="19349" />
+  <scenario:civilian scenario:location="35900" />
+  <scenario:civilian scenario:location="34856" />
+  <scenario:civilian scenario:location="28961" />
+  <scenario:civilian scenario:location="37453" />
+  <scenario:civilian scenario:location="13121" />
+  <scenario:civilian scenario:location="55251" />
+  <scenario:civilian scenario:location="27044" />
+  <scenario:civilian scenario:location="16586" />
+  <scenario:civilian scenario:location="20573" />
+  <scenario:civilian scenario:location="69697" />
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+  <scenario:firebrigade scenario:location="28907" />
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+  <scenario:firestation scenario:location="41677" />
+  <scenario:policeforce scenario:location="52288" />
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+  <scenario:policeoffice scenario:location="50754" />
+  <scenario:ambulanceteam scenario:location="16739" />
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+  <scenario:ambulanceteam scenario:location="5245" />
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+  <scenario:ambulanceteam scenario:location="5090" />
+  <scenario:ambulanceteam scenario:location="3632" />
+  <scenario:ambulanceteam scenario:location="19574" />
+  <scenario:ambulanceteam scenario:location="7881" />
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+  <scenario:ambulanceteam scenario:location="41807" />
+  <scenario:ambulanceteam scenario:location="49643" />
+  <scenario:ambulanceteam scenario:location="39393" />
+  <scenario:ambulanceteam scenario:location="39032" />
+  <scenario:ambulanceteam scenario:location="41387" />
+  <scenario:ambulanceteam scenario:location="40143" />
+  <scenario:ambulanceteam scenario:location="40449" />
+  <scenario:ambulanceteam scenario:location="36476" />
+  <scenario:ambulanceteam scenario:location="22193" />
+  <scenario:ambulanceteam scenario:location="20015" />
+  <scenario:ambulanceteam scenario:location="4922" />
+  <scenario:ambulanceteam scenario:location="24830" />
+  <scenario:ambulancecentre scenario:location="58404" />
+</scenario:scenario>
\ No newline at end of file

maps/istanbul/config/civilian.cfg

+!include common.cfg
+
+# The probability that a buried civilian will call for help
+civilian.help.probability : 0.1
+# The probability that a damaged civilian will call for help
+civilian.ouch.probability : 0.1
+# Civilians with HP less than this threshold will not call for help
+civilian.conscious.threshold : 2500

maps/istanbul/config/clear.cfg

+!include common.cfg
+
+# The road clear rate in square meters per timestep per police force
+clear.repair.rate: 10
+# Maximum distance from a blockage in mm.
+clear.repair.distance: 10000
+clear.repair.rad: 2000
+

maps/istanbul/config/collapse.cfg

+!include common.cfg
+
+# Damage distribution for wooden buildings
+collapse.wood.p-destroyed: 0.15
+collapse.wood.p-severe: 0.15
+collapse.wood.p-moderate: 0.15
+collapse.wood.p-slight: 0.15
+collapse.wood.p-none: 0.4
+
+# Damage distribution for steel buildings
+collapse.steel.p-destroyed: 0.1
+collapse.steel.p-severe: 0.15
+collapse.steel.p-moderate: 0.2
+collapse.steel.p-slight: 0.25
+collapse.steel.p-none: 0.3
+
+# Damage distribution for concrete buildings
+collapse.concrete.p-destroyed: 0.3
+collapse.concrete.p-severe: 0.25
+collapse.concrete.p-moderate: 0.2
+collapse.concrete.p-slight: 0.15
+collapse.concrete.p-none: 0.1
+
+# Amount of damage for each collapse degree class
+collapse.destroyed.mean: 100
+collapse.destroyed.sd: 5
+collapse.severe.mean: 75
+collapse.severe.sd: 5
+collapse.moderate.mean: 50
+collapse.moderate.sd: 5
+collapse.slight.mean: 25
+collapse.slight.sd: 5
+
+# Whether to create road blockages or not
+collapse.create-road-blockages: true
+
+# Assumed height of walls per floor in m.
+collapse.floor-height: 6
+
+# Possible extent of wall collapse.
+collapse.wall-extent.min: 0.5
+collapse.wall-extent.max: 0.9

maps/istanbul/config/common.cfg

+!include types.cfg
+
+# Random seed for all components
+random.seed: 85247
+
+scenario.human.random-id: true
+
+kernel.host: localhost
+kernel.port: 27931

maps/istanbul/config/comms.cfg

+#!include comms/comms-01-full.cfg
+#!include comms/comms-02-unreliable.cfg
+#!include comms/comms-03-mixed.cfg
+#!include comms/comms-04-many.cfg
+!include comms/comms-05-medium.cfg
+#!include comms/comms-06-none.cfg
+#!include comms/very-limited.cfg

maps/istanbul/config/comms/comms-01-full.cfg

+comms.channels.count: 3
+comms.channels.0.type: voice
+# Range of a voice message in mm
+comms.channels.0.range: 30000
+# Maximum size of a voice message
+comms.channels.0.messages.size: 256
+# Maximum number of voice messages each agent can utter each timestep
+comms.channels.0.messages.max: 1
+comms.channels.0.noise.input.dropout.use: yes
+comms.channels.0.noise.input.dropout.p: 0.1
+
+# Create 2 high-bandwidth channels
+comms.channels.1.type: radio
+comms.channels.1.bandwidth: 4000
+
+comms.channels.2.type: radio
+comms.channels.2.bandwidth: 4000
+
+comms.channels.max.platoon: 2
+comms.channels.max.centre: 2