init

maps/istanbul/map/scenario.xml

+<?xml version="1.0" encoding="UTF-8"?>
+
+<scenario:scenario xmlns:scenario="urn:roborescue:map:scenario">
+  <scenario:refuge scenario:location="36961" scenario:bedCapacity="50" />
+  <scenario:refuge scenario:location="55987" scenario:bedCapacity="50" />
+  <scenario:refuge scenario:location="66037" scenario:bedCapacity="50" />
+  <scenario:refuge scenario:location="32824" scenario:bedCapacity="50" />
+  <scenario:refuge scenario:location="57211" scenario:bedCapacity="50" />
+  <scenario:refuge scenario:location="42460" scenario:bedCapacity="50" />
+  <scenario:refuge scenario:location="57677" scenario:bedCapacity="50" />
+  <scenario:refuge scenario:location="32718" scenario:bedCapacity="50" />
+  <scenario:civilian scenario:location="25088" />
+  <scenario:civilian scenario:location="35300" />
+  <scenario:civilian scenario:location="35003" />
+  <scenario:civilian scenario:location="42266" />
+  <scenario:civilian scenario:location="42266" />
+  <scenario:civilian scenario:location="42266" />
+  <scenario:civilian scenario:location="53429" />
+  <scenario:civilian scenario:location="46615" />
+  <scenario:civilian scenario:location="13829" />
+  <scenario:civilian scenario:location="67573" />
+  <scenario:civilian scenario:location="51869" />
+  <scenario:civilian scenario:location="47481" />
+  <scenario:civilian scenario:location="47481" />
+  <scenario:civilian scenario:location="41436" />
+  <scenario:civilian scenario:location="58199" />
+  <scenario:civilian scenario:location="45005" />
+  <scenario:civilian scenario:location="45368" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="49291" />
+  <scenario:civilian scenario:location="49291" />
+  <scenario:civilian scenario:location="49291" />
+  <scenario:civilian scenario:location="49291" />
+  <scenario:civilian scenario:location="49291" />
+  <scenario:civilian scenario:location="49291" />
+  <scenario:civilian scenario:location="49291" />
+  <scenario:civilian scenario:location="38904" />
+  <scenario:civilian scenario:location="38904" />
+  <scenario:civilian scenario:location="38904" />
+  <scenario:civilian scenario:location="38904" />
+  <scenario:civilian scenario:location="38904" />
+  <scenario:civilian scenario:location="41927" />
+  <scenario:civilian scenario:location="46793" />
+  <scenario:civilian scenario:location="46793" />
+  <scenario:civilian scenario:location="66000" />
+  <scenario:civilian scenario:location="34858" />
+  <scenario:civilian scenario:location="34858" />
+  <scenario:civilian scenario:location="53361" />
+  <scenario:civilian scenario:location="31889" />
+  <scenario:civilian scenario:location="31889" />
+  <scenario:civilian scenario:location="53628" />
+  <scenario:civilian scenario:location="53628" />
+  <scenario:civilian scenario:location="57365" />
+  <scenario:civilian scenario:location="39030" />
+  <scenario:civilian scenario:location="59364" />
+  <scenario:civilian scenario:location="27296" />
+  <scenario:civilian scenario:location="47481" />
+  <scenario:civilian scenario:location="47481" />
+  <scenario:civilian scenario:location="53361" />
+  <scenario:civilian scenario:location="29414" />
+  <scenario:civilian scenario:location="29414" />
+  <scenario:civilian scenario:location="61771" />
+  <scenario:civilian scenario:location="61771" />
+  <scenario:civilian scenario:location="67572" />
+  <scenario:civilian scenario:location="67572" />
+  <scenario:civilian scenario:location="38489" />
+  <scenario:civilian scenario:location="38489" />
+  <scenario:civilian scenario:location="55034" />
+  <scenario:civilian scenario:location="45643" />
+  <scenario:civilian scenario:location="63978" />
+  <scenario:civilian scenario:location="63978" />
+  <scenario:civilian scenario:location="63978" />
+  <scenario:civilian scenario:location="57644" />
+  <scenario:civilian scenario:location="40868" />
+  <scenario:civilian scenario:location="36794" />
+  <scenario:civilian scenario:location="28669" />
+  <scenario:civilian scenario:location="49218" />
+  <scenario:civilian scenario:location="41159" />
+  <scenario:civilian scenario:location="45877" />
+  <scenario:civilian scenario:location="45877" />
+  <scenario:civilian scenario:location="13631" />
+  <scenario:civilian scenario:location="64751" />
+  <scenario:civilian scenario:location="41320" />
+  <scenario:civilian scenario:location="35952" />
+  <scenario:civilian scenario:location="62835" />
+  <scenario:civilian scenario:location="59416" />
+  <scenario:civilian scenario:location="28037" />
+  <scenario:civilian scenario:location="39430" />
+  <scenario:civilian scenario:location="39687" />
+  <scenario:civilian scenario:location="50755" />
+  <scenario:civilian scenario:location="60921" />
+  <scenario:civilian scenario:location="50078" />
+  <scenario:civilian scenario:location="50078" />
+  <scenario:civilian scenario:location="50078" />
+  <scenario:civilian scenario:location="50078" />
+  <scenario:civilian scenario:location="45498" />
+  <scenario:civilian scenario:location="51643" />
+  <scenario:civilian scenario:location="29177" />
+  <scenario:civilian scenario:location="49815" />
+  <scenario:civilian scenario:location="53429" />
+  <scenario:civilian scenario:location="62227" />
+  <scenario:civilian scenario:location="46429" />
+  <scenario:civilian scenario:location="40145" />
+  <scenario:civilian scenario:location="40145" />
+  <scenario:civilian scenario:location="40145" />
+  <scenario:civilian scenario:location="34537" />
+  <scenario:civilian scenario:location="11768" />
+  <scenario:civilian scenario:location="56319" />
+  <scenario:civilian scenario:location="40868" />
+  <scenario:civilian scenario:location="40868" />
+  <scenario:civilian scenario:location="53896" />
+  <scenario:civilian scenario:location="33842" />
+  <scenario:civilian scenario:location="33842" />
+  <scenario:civilian scenario:location="40205" />
+  <scenario:civilian scenario:location="40205" />
+  <scenario:civilian scenario:location="40205" />
+  <scenario:civilian scenario:location="64799" />
+  <scenario:civilian scenario:location="29383" />
+  <scenario:civilian scenario:location="67961" />
+  <scenario:civilian scenario:location="55034" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="62667" />
+  <scenario:civilian scenario:location="63978" />
+  <scenario:civilian scenario:location="50755" />
+  <scenario:civilian scenario:location="60921" />
+  <scenario:civilian scenario:location="38489" />
+  <scenario:civilian scenario:location="61771" />
+  <scenario:civilian scenario:location="67580" />
+  <scenario:civilian scenario:location="67580" />
+  <scenario:civilian scenario:location="67580" />
+  <scenario:civilian scenario:location="67580" />
+  <scenario:civilian scenario:location="27439" />
+  <scenario:civilian scenario:location="27439" />
+  <scenario:civilian scenario:location="67579" />
+  <scenario:civilian scenario:location="67579" />
+  <scenario:civilian scenario:location="48779" />
+  <scenario:civilian scenario:location="38271" />
+  <scenario:civilian scenario:location="61705" />
+  <scenario:civilian scenario:location="36665" />
+  <scenario:civilian scenario:location="36653" />
+  <scenario:civilian scenario:location="31140" />
+  <scenario:civilian scenario:location="52327" />
+  <scenario:civilian scenario:location="37542" />
+  <scenario:civilian scenario:location="55539" />
+  <scenario:civilian scenario:location="58531" />
+  <scenario:civilian scenario:location="36794" />
+  <scenario:civilian scenario:location="58025" />
+  <scenario:civilian scenario:location="43379" />
+  <scenario:civilian scenario:location="62748" />
+  <scenario:civilian scenario:location="50287" />
+  <scenario:civilian scenario:location="31493" />
+  <scenario:civilian scenario:location="34254" />
+  <scenario:civilian scenario:location="56280" />
+  <scenario:civilian scenario:location="60053" />
+  <scenario:civilian scenario:location="53295" />
+  <scenario:civilian scenario:location="63209" />
+  <scenario:civilian scenario:location="28615" />
+  <scenario:civilian scenario:location="40357" />
+  <scenario:civilian scenario:location="52950" />
+  <scenario:civilian scenario:location="55156" />
+  <scenario:civilian scenario:location="61705" />
+  <scenario:civilian scenario:location="28944" />
+  <scenario:civilian scenario:location="67580" />
+  <scenario:civilian scenario:location="26947" />
+  <scenario:civilian scenario:location="60000" />
+  <scenario:civilian scenario:location="27468" />
+  <scenario:civilian scenario:location="45255" />
+  <scenario:civilian scenario:location="41295" />
+  <scenario:civilian scenario:location="46908" />
+  <scenario:civilian scenario:location="39881" />
+  <scenario:civilian scenario:location="64931" />
+  <scenario:civilian scenario:location="34142" />
+  <scenario:civilian scenario:location="50728" />
+  <scenario:civilian scenario:location="52300" />
+  <scenario:civilian scenario:location="53787" />
+  <scenario:civilian scenario:location="61153" />
+  <scenario:civilian scenario:location="59259" />
+  <scenario:civilian scenario:location="32133" />
+  <scenario:civilian scenario:location="61507" />
+  <scenario:civilian scenario:location="45570" />
+  <scenario:civilian scenario:location="60280" />
+  <scenario:civilian scenario:location="27113" />
+  <scenario:civilian scenario:location="65022" />
+  <scenario:civilian scenario:location="59259" />
+  <scenario:civilian scenario:location="32654" />
+  <scenario:civilian scenario:location="27608" />
+  <scenario:civilian scenario:location="49946" />
+  <scenario:civilian scenario:location="34475" />
+  <scenario:civilian scenario:location="28407" />
+  <scenario:civilian scenario:location="38879" />
+  <scenario:civilian scenario:location="55539" />
+  <scenario:civilian scenario:location="33603" />
+  <scenario:civilian scenario:location="61546" />
+  <scenario:civilian scenario:location="27656" />
+  <scenario:civilian scenario:location="36420" />
+  <scenario:civilian scenario:location="62978" />
+  <scenario:civilian scenario:location="46736" />
+  <scenario:civilian scenario:location="32388" />
+  <scenario:civilian scenario:location="54976" />
+  <scenario:civilian scenario:location="29873" />
+  <scenario:civilian scenario:location="27898" />
+  <scenario:civilian scenario:location="40095" />
+  <scenario:civilian scenario:location="36893" />
+  <scenario:civilian scenario:location="54217" />
+  <scenario:civilian scenario:location="64701" />
+  <scenario:civilian scenario:location="63106" />
+  <scenario:civilian scenario:location="66981" />
+  <scenario:civilian scenario:location="30742" />
+  <scenario:civilian scenario:location="42419" />
+  <scenario:civilian scenario:location="48217" />
+  <scenario:civilian scenario:location="27376" />
+  <scenario:civilian scenario:location="52634" />
+  <scenario:civilian scenario:location="30974" />
+  <scenario:civilian scenario:location="44019" />
+  <scenario:civilian scenario:location="66360" />
+  <scenario:civilian scenario:location="33740" />
+  <scenario:civilian scenario:location="60028" />
+  <scenario:civilian scenario:location="60028" />
+  <scenario:civilian scenario:location="60028" />
+  <scenario:civilian scenario:location="60028" />
+  <scenario:civilian scenario:location="60028" />
+  <scenario:civilian scenario:location="60028" />
+  <scenario:civilian scenario:location="60028" />
+  <scenario:civilian scenario:location="60028" />
+  <scenario:civilian scenario:location="60028" />
+  <scenario:civilian scenario:location="60028" />
+  <scenario:civilian scenario:location="54823" />
+  <scenario:civilian scenario:location="54823" />
+  <scenario:civilian scenario:location="54823" />
+  <scenario:civilian scenario:location="54823" />
+  <scenario:civilian scenario:location="54823" />
+  <scenario:civilian scenario:location="54823" />
+  <scenario:civilian scenario:location="54823" />
+  <scenario:civilian scenario:location="54823" />
+  <scenario:civilian scenario:location="54823" />
+  <scenario:civilian scenario:location="26916" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:firebrigade scenario:location="21344" />
+  <scenario:policeforce scenario:location="4371" />
+  <scenario:policeforce scenario:location="57302" />
+  <scenario:policeforce scenario:location="20417" />
+  <scenario:policeforce scenario:location="65341" />
+  <scenario:policeforce scenario:location="28656" />
+  <scenario:policeforce scenario:location="56130" />
+  <scenario:policeforce scenario:location="67597" />
+  <scenario:policeforce scenario:location="5706" />
+  <scenario:policeforce scenario:location="65341" />
+  <scenario:policeforce scenario:location="64908" />
+  <scenario:policeforce scenario:location="18401" />
+  <scenario:policeforce scenario:location="16988" />
+  <scenario:policeforce scenario:location="20345" />
+  <scenario:policeforce scenario:location="14477" />
+  <scenario:policeforce scenario:location="11912" />
+  <scenario:policeforce scenario:location="28142" />
+  <scenario:policeforce scenario:location="14162" />
+  <scenario:policeforce scenario:location="11552" />
+  <scenario:policeforce scenario:location="1391" />
+  <scenario:policeforce scenario:location="54443" />
+  <scenario:policeforce scenario:location="52339" />
+  <scenario:policeforce scenario:location="64638" />
+  <scenario:policeforce scenario:location="2963" />
+  <scenario:policeforce scenario:location="14927" />
+  <scenario:policeforce scenario:location="51338" />
+  <scenario:policeforce scenario:location="6231" />
+  <scenario:policeforce scenario:location="58245" />
+  <scenario:policeforce scenario:location="61082" />
+  <scenario:policeforce scenario:location="59091" />
+  <scenario:policeforce scenario:location="67477" />
+  <scenario:policeforce scenario:location="53210" />
+  <scenario:policeforce scenario:location="2940" />
+  <scenario:policeforce scenario:location="21335" />
+  <scenario:policeforce scenario:location="21344" />
+  <scenario:policeforce scenario:location="2121" />
+  <scenario:policeforce scenario:location="21326" />
+  <scenario:ambulanceteam scenario:location="1571" />
+  <scenario:ambulanceteam scenario:location="9404" />
+  <scenario:ambulanceteam scenario:location="3964" />
+  <scenario:ambulanceteam scenario:location="42408" />
+  <scenario:ambulanceteam scenario:location="47917" />
+  <scenario:ambulanceteam scenario:location="5820" />
+  <scenario:ambulanceteam scenario:location="58848" />
+  <scenario:ambulanceteam scenario:location="66747" />
+  <scenario:ambulanceteam scenario:location="2549" />
+  <scenario:ambulanceteam scenario:location="52339" />
+  <scenario:ambulanceteam scenario:location="11444" />
+  <scenario:ambulanceteam scenario:location="40489" />
+  <scenario:ambulanceteam scenario:location="17735" />
+  <scenario:ambulanceteam scenario:location="8370" />
+  <scenario:ambulanceteam scenario:location="3472" />
+  <scenario:ambulanceteam scenario:location="12245" />
+  <scenario:ambulanceteam scenario:location="24584" />
+  <scenario:ambulanceteam scenario:location="39085" />
+  <scenario:ambulanceteam scenario:location="23648" />
+  <scenario:ambulanceteam scenario:location="7387" />
+  <scenario:ambulanceteam scenario:location="3380" />
+  <scenario:ambulanceteam scenario:location="53799" />
+  <scenario:ambulanceteam scenario:location="6252" />
+  <scenario:ambulanceteam scenario:location="33877" />
+  <scenario:ambulanceteam scenario:location="35937" />
+  <scenario:ambulanceteam scenario:location="68429" />
+  <scenario:ambulanceteam scenario:location="48745" />
+  <scenario:ambulanceteam scenario:location="8846" />
+  <scenario:ambulanceteam scenario:location="66522" />
+  <scenario:ambulanceteam scenario:location="43716" />
+  <scenario:ambulanceteam scenario:location="31001" />
+  <scenario:ambulanceteam scenario:location="50078" />
+  <scenario:ambulanceteam scenario:location="65999" />
+  <scenario:ambulancecentre scenario:location="64088" />
+</scenario:scenario>
\ No newline at end of file

maps/joao/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/joao/config/clear.cfg

+!include common.cfg
+
+# The road clear rate in square meters per timestep per police force
+clear.repair.rate: 30
+# Maximum distance from a blockage in mm.
+clear.repair.distance: 20000
+#New Changes 2013
+clear.repair.rad: 2000

maps/joao/config/collapse.cfg

+!include common.cfg
+
+# Damage distribution for wooden buildings
+collapse.wood.p-destroyed: 0.2
+collapse.wood.p-severe: 0.15
+collapse.wood.p-moderate: 0.15
+collapse.wood.p-slight: 0.1
+collapse.wood.p-none: 0.4
+
+# Damage distribution for steel buildings
+collapse.steel.p-destroyed: 0.2
+collapse.steel.p-severe: 0.2
+collapse.steel.p-moderate: 0.2
+collapse.steel.p-slight: 0.2
+collapse.steel.p-none: 0.2
+
+# Damage distribution for concrete buildings
+collapse.concrete.p-destroyed: 0.35
+collapse.concrete.p-severe: 0.25
+collapse.concrete.p-moderate: 0.2
+collapse.concrete.p-slight: 0.1
+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: 5
+
+# Possible extent of wall collapse.
+collapse.wall-extent.min: 0.9
+collapse.wall-extent.max: 1.5

maps/joao/config/common.cfg

+!include types.cfg
+
+# Random seed for all components
+random.seed: 1765
+
+scenario.human.random-id: true
+
+kernel.host: localhost
+kernel.port: 27931

maps/joao/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/joao/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

maps/joao/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/joao/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/joao/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/joao/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/joao/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/joao/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=true
+gis.map.floor-placement.random.floor-rate.1=50
+gis.map.floor-placement.random.floor-rate.2=1
+gis.map.floor-placement.random.floor-rate.3=0
+
+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

maps/joao/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:50000

maps/joao/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: 190
+
+# 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/joao/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: 190
+
+# 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/joao/config/logviewer.cfg

+log.viewers : rescuecore2.standard.view.StandardWorldModelViewer

maps/joao/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/joao/config/perception.cfg

+# Legacy perception module parameters
+perception.standard.view-distance:        10000
+perception.standard.use-far-fires:        true
+perception.standard.far-fire-distance:    10000
+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: 1000
+perception.los.precision.damage: 50