init

maps/berlin/config/resq-fire.cfg

+!include common.cfg
+
+# Synonyms
+resq-fire.water_capacity: 150000
+fire.tank.maximum: 150000
+
+resq-fire.water_refill_rate: 50000
+fire.tank.refill_rate: 50000
+
+#New Changes 2013
+resq-fire.water_hydrant_refill_rate: 5000
+fire.tank.refill_hydrant_rate: 5000
+
+resq-fire.water_distance: 150000
+fire.extinguish.max-distance: 150000
+
+fire.extinguish.max-sum: 15000
+resq-fire.max_extinguish_power_sum: 15000
+
+# 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:0.5
+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:90.0
+resq-fire.concrete_speed:0.05
+resq-fire.firestation_inflammable:false
+resq-fire.steel_speed:0.05
+resq-fire.randomseed:102
+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: 0.145
+resq-fire.burn-rate-variance: 0.02

maps/berlin/config/sample-agents.cfg

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

maps/berlin/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/berlin/config/traffic3.cfg

+!include common.cfg

maps/berlin/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/berlin/config/viewer.cfg

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

maps/berlin/map/scenario.xml

+<?xml version="1.0" encoding="UTF-8"?>
+
+<scenario:scenario xmlns:scenario="urn:roborescue:map:scenario">
+  <scenario:refuge scenario:location="53762" scenario:bedCapacity="100" />
+  <scenario:refuge scenario:location="43289" scenario:bedCapacity="100" />
+  <scenario:refuge scenario:location="51225" scenario:bedCapacity="100" />
+  <scenario:refuge scenario:location="45211" scenario:bedCapacity="100" />
+  <scenario:refuge scenario:location="36927" scenario:bedCapacity="100" />
+  <scenario:civilian scenario:location="27851" />
+  <scenario:civilian scenario:location="43854" />
+  <scenario:civilian scenario:location="57359" />
+  <scenario:civilian scenario:location="30779" />
+  <scenario:civilian scenario:location="42199" />
+  <scenario:civilian scenario:location="52923" />
+  <scenario:civilian scenario:location="53820" />
+  <scenario:civilian scenario:location="55164" />
+  <scenario:civilian scenario:location="46570" />
+  <scenario:civilian scenario:location="52825" />
+  <scenario:civilian scenario:location="54743" />
+  <scenario:civilian scenario:location="42813" />
+  <scenario:civilian scenario:location="50181" />
+  <scenario:civilian scenario:location="35946" />
+  <scenario:civilian scenario:location="53283" />
+  <scenario:civilian scenario:location="52729" />
+  <scenario:civilian scenario:location="56157" />
+  <scenario:civilian scenario:location="44092" />
+  <scenario:civilian scenario:location="40034" />
+  <scenario:civilian scenario:location="25459" />
+  <scenario:civilian scenario:location="54823" />
+  <scenario:civilian scenario:location="47082" />
+  <scenario:civilian scenario:location="32617" />
+  <scenario:civilian scenario:location="46818" />
+  <scenario:civilian scenario:location="33010" />
+  <scenario:civilian scenario:location="37580" />
+  <scenario:civilian scenario:location="56246" />
+  <scenario:civilian scenario:location="55559" />
+  <scenario:civilian scenario:location="55674" />
+  <scenario:civilian scenario:location="38429" />
+  <scenario:civilian scenario:location="53857" />
+  <scenario:civilian scenario:location="32617" />
+  <scenario:civilian scenario:location="56381" />
+  <scenario:civilian scenario:location="26688" />
+  <scenario:civilian scenario:location="36369" />
+  <scenario:civilian scenario:location="49073" />
+  <scenario:civilian scenario:location="34453" />
+  <scenario:civilian scenario:location="52821" />
+  <scenario:civilian scenario:location="36950" />
+  <scenario:civilian scenario:location="43067" />
+  <scenario:civilian scenario:location="44217" />
+  <scenario:civilian scenario:location="41254" />
+  <scenario:civilian scenario:location="54488" />
+  <scenario:civilian scenario:location="56003" />
+  <scenario:civilian scenario:location="26631" />
+  <scenario:civilian scenario:location="48827" />
+  <scenario:civilian scenario:location="50736" />
+  <scenario:civilian scenario:location="39488" />
+  <scenario:civilian scenario:location="56414" />
+  <scenario:civilian scenario:location="45456" />
+  <scenario:civilian scenario:location="53834" />
+  <scenario:civilian scenario:location="53736" />
+  <scenario:civilian scenario:location="54827" />
+  <scenario:civilian scenario:location="29002" />
+  <scenario:civilian scenario:location="55963" />
+  <scenario:civilian scenario:location="54694" />
+  <scenario:civilian scenario:location="54490" />
+  <scenario:civilian scenario:location="38596" />
+  <scenario:civilian scenario:location="54345" />
+  <scenario:civilian scenario:location="53841" />
+  <scenario:civilian scenario:location="53892" />
+  <scenario:civilian scenario:location="56381" />
+  <scenario:civilian scenario:location="54283" />
+  <scenario:civilian scenario:location="53446" />
+  <scenario:civilian scenario:location="45810" />
+  <scenario:civilian scenario:location="55272" />
+  <scenario:civilian scenario:location="33578" />
+  <scenario:civilian scenario:location="54643" />
+  <scenario:civilian scenario:location="32762" />
+  <scenario:civilian scenario:location="54133" />
+  <scenario:civilian scenario:location="54517" />
+  <scenario:civilian scenario:location="54306" />
+  <scenario:civilian scenario:location="57308" />
+  <scenario:civilian scenario:location="39608" />
+  <scenario:civilian scenario:location="56485" />
+  <scenario:civilian scenario:location="42924" />
+  <scenario:civilian scenario:location="53520" />
+  <scenario:civilian scenario:location="56496" />
+  <scenario:civilian scenario:location="23749" />
+  <scenario:civilian scenario:location="53399" />
+  <scenario:civilian scenario:location="52720" />
+  <scenario:civilian scenario:location="52738" />
+  <scenario:civilian scenario:location="29729" />
+  <scenario:civilian scenario:location="55632" />
+  <scenario:civilian scenario:location="53722" />
+  <scenario:civilian scenario:location="52570" />
+  <scenario:civilian scenario:location="55119" />
+  <scenario:civilian scenario:location="40621" />
+  <scenario:civilian scenario:location="57409" />
+  <scenario:civilian scenario:location="56396" />
+  <scenario:civilian scenario:location="55571" />
+  <scenario:civilian scenario:location="54333" />
+  <scenario:civilian scenario:location="55336" />
+  <scenario:civilian scenario:location="34094" />
+  <scenario:civilian scenario:location="29190" />
+  <scenario:civilian scenario:location="50910" />
+  <scenario:civilian scenario:location="56249" />
+  <scenario:civilian scenario:location="55835" />
+  <scenario:civilian scenario:location="54275" />
+  <scenario:civilian scenario:location="50264" />
+  <scenario:civilian scenario:location="37741" />
+  <scenario:civilian scenario:location="49096" />
+  <scenario:civilian scenario:location="54707" />
+  <scenario:civilian scenario:location="48990" />
+  <scenario:civilian scenario:location="33300" />
+  <scenario:civilian scenario:location="54189" />
+  <scenario:civilian scenario:location="28313" />
+  <scenario:civilian scenario:location="29089" />
+  <scenario:civilian scenario:location="53288" />
+  <scenario:civilian scenario:location="40964" />
+  <scenario:civilian scenario:location="43044" />
+  <scenario:firebrigade scenario:location="16330" />
+  <scenario:firebrigade scenario:location="3304" />
+  <scenario:firebrigade scenario:location="17392" />
+  <scenario:firebrigade scenario:location="14557" />
+  <scenario:firebrigade scenario:location="8707" />
+  <scenario:policeforce scenario:location="53397" />
+  <scenario:policeforce scenario:location="30009" />
+  <scenario:policeforce scenario:location="12316" />
+  <scenario:policeforce scenario:location="15781" />
+  <scenario:policeforce scenario:location="9868" />
+  <scenario:policeforce scenario:location="19417" />
+  <scenario:policeforce scenario:location="17725" />
+  <scenario:policeforce scenario:location="9463" />
+  <scenario:policeforce scenario:location="12541" />
+  <scenario:policeforce scenario:location="14224" />
+  <scenario:policeforce scenario:location="12334" />
+  <scenario:policeforce scenario:location="6145" />
+  <scenario:policeforce scenario:location="19255" />
+  <scenario:policeforce scenario:location="15844" />
+  <scenario:policeforce scenario:location="20344" />
+  <scenario:policeforce scenario:location="22108" />
+  <scenario:policeforce scenario:location="51748" />
+  <scenario:policeforce scenario:location="51743" />
+  <scenario:policeforce scenario:location="15331" />
+  <scenario:policeforce scenario:location="22198" />
+  <scenario:policeforce scenario:location="14782" />
+  <scenario:policeforce scenario:location="12712" />
+  <scenario:policeforce scenario:location="8941" />
+  <scenario:policeforce scenario:location="19039" />
+  <scenario:policeforce scenario:location="52364" />
+  <scenario:policeoffice scenario:location="29729" />
+  <scenario:policeoffice scenario:location="54727" />
+  <scenario:policeoffice scenario:location="38978" />
+  <scenario:policeoffice scenario:location="40034" />
+  <scenario:policeoffice scenario:location="55161" />
+  <scenario:ambulanceteam scenario:location="37198" />
+  <scenario:ambulanceteam scenario:location="32571" />
+  <scenario:ambulanceteam scenario:location="55991" />
+  <scenario:ambulanceteam scenario:location="57718" />
+  <scenario:ambulanceteam scenario:location="35368" />
+  <scenario:ambulanceteam scenario:location="11524" />
+  <scenario:ambulanceteam scenario:location="55905" />
+  <scenario:ambulanceteam scenario:location="57406" />
+  <scenario:ambulanceteam scenario:location="74" />
+  <scenario:ambulanceteam scenario:location="41320" />
+  <scenario:ambulanceteam scenario:location="12235" />
+  <scenario:ambulanceteam scenario:location="18472" />
+  <scenario:ambulanceteam scenario:location="14791" />
+  <scenario:ambulanceteam scenario:location="22873" />
+  <scenario:ambulanceteam scenario:location="15520" />
+</scenario:scenario>
\ No newline at end of file

maps/eindhoven/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/eindhoven/config/clear.cfg

+!include common.cfg
+
+# The road clear rate in square meters per timestep per police force
+clear.repair.rate: 11
+# Maximum distance from a blockage in mm.
+clear.repair.distance: 12000
+clear.repair.rad: 1050

maps/eindhoven/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: 0.4
+collapse.wall-extent.max: 0.85

maps/eindhoven/config/common.cfg

+!include types.cfg
+
+# Random seed for all components
+random.seed: 1658
+
+scenario.human.random-id: true
+
+kernel.host: localhost
+kernel.port: 27931

maps/eindhoven/config/comms.cfg

+!include comms/comms-01-full.cfg
+#!include comms/comms-02-medium.cfg
+#!include comms/comms-03-very-limited.cfg
+#!include comms/comms-04-low.cfg
+#!include comms/comms-05-less.cfg

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

+comms.channels.count: 2
+comms.channels.0.type: voice
+# Range of a voice message in mm
+comms.channels.0.range: 70000
+# 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: 3
+comms.channels.0.noise.input.dropout.use: yes
+comms.channels.0.noise.input.dropout.p: 0.15
+
+# 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

maps/eindhoven/config/comms/comms-02-medium.cfg

+comms.channels.count: 4
+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 3 medium-bandwidth, medium-reliability channels
+comms.channels.1.type: radio
+comms.channels.1.bandwidth: 1024
+comms.channels.1.noise.input.failure.use: yes
+comms.channels.1.noise.input.failure.p: 0.1
+comms.channels.1.noise.output.dropout.use: yes
+comms.channels.1.noise.output.dropout.p: 0.05
+
+comms.channels.2.type: radio
+comms.channels.2.bandwidth: 1024
+comms.channels.2.noise.input.failure.use: yes
+comms.channels.2.noise.input.failure.p: 0.1
+comms.channels.2.noise.output.dropout.use: yes
+comms.channels.2.noise.output.dropout.p: 0.05
+
+comms.channels.3.type: radio
+comms.channels.3.bandwidth: 1024
+comms.channels.3.noise.input.failure.use: yes
+comms.channels.3.noise.input.failure.p: 0.1
+comms.channels.3.noise.output.dropout.use: yes
+comms.channels.3.noise.output.dropout.p: 0.05
+
+comms.channels.max.platoon: 1
+comms.channels.max.centre: 2
\ No newline at end of file

maps/eindhoven/config/comms/comms-03-very-limited.cfg

+comms.channels.count: 2
+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.output.dropout.use: yes
+comms.channels.0.noise.output.dropout.p: 0.05
+
+# One very low bandwidth channel
+comms.channels.1.type: radio
+comms.channels.1.bandwidth: 64
+comms.channels.1.noise.input.failure.use: yes
+comms.channels.1.noise.input.failure.p: 0.25
+comms.channels.1.noise.output.dropout.use: yes
+comms.channels.1.noise.output.dropout.p: 0.12
+
+
+# No other channels
+comms.channels.max.platoon: 1
+comms.channels.max.centre: 1

maps/eindhoven/config/comms/comms-04-low.cfg

+comms.channels.count: 2
+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.output.dropout.use: yes
+comms.channels.0.noise.output.dropout.p: 0.05
+
+# One very low bandwidth channel
+comms.channels.1.type: radio
+comms.channels.1.bandwidth: 64
+comms.channels.1.noise.input.failure.use: yes
+comms.channels.1.noise.input.failure.p: 0.25
+comms.channels.1.noise.output.dropout.use: yes
+comms.channels.1.noise.output.dropout.p: 0.12
+
+
+# No other channels
+comms.channels.max.platoon: 1
+comms.channels.max.centre: 1

maps/eindhoven/config/comms/comms-05-less.cfg

+comms.channels.count: 1
+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.output.dropout.use: yes
+comms.channels.0.noise.output.dropout.p: 0.05
+
+# No other channels
+comms.channels.max.platoon: 0
+comms.channels.max.centre: 0
\ No newline at end of file

maps/eindhoven/config/generator.cfg

+generator.output: ../maps/gml/generated/map.gml
+
+generator.manhattan.grid.width: 10
+generator.manhattan.grid.height: 10
+generator.manhattan.grid.size: 100
+generator.manhattan.road.width: 7
+generator.manhattan.building.width.min: 5
+generator.manhattan.building.height.min: 5
+generator.manhattan.building.separation.min: 1
+generator.manhattan.building.separation.max: 5
+generator.manhattan.building.split.min-size: 50
+generator.manhattan.building.split.max-size: 1000
+generator.manhattan.building.split.chance: 0.9
\ No newline at end of file

maps/eindhoven/config/gis.cfg

+# The map directory to read
+gis.map.dir : ../maps/gml/legacy/Kobe
+
+
+# Optional: The map file to read. Defaults to map.gml
+gis.map.file : map.gml
+# Optional: The scenario file to read. Defaults to scenario.xml
+gis.map.scenario : scenario.xml
+
+
+gis.map.floor-placement.random=false
+gis.map.floor-placement.random.floor-rate.1=2
+gis.map.floor-placement.random.floor-rate.2=2
+gis.map.floor-placement.random.floor-rate.3=1
+
+gis.map.building-code-placement.random = true
+gis.map.building-code-placement.random.code-rate.0=75
+gis.map.building-code-placement.random.code-rate.1=20
+gis.map.building-code-placement.random.code-rate.2=5