initial commit

.gitmodules

+[submodule "BinaryMaxSum"]
+	path = BinaryMaxSum
+	url = https://github.com/RMASBench/BinaryMaxSum.git
+[submodule "roborescue"]
+	path = roborescue
+	url = https://github.com/RMASBench/roborescue.git
+[submodule "MaxSum"]
+	path = MaxSum
+	url = https://github.com/RMASBench/MaxSum.git
+[submodule "BlockadeLoader"]
+	path = BlockadeLoader
+	url = https://github.com/RMASBench/BlockadeLoader.git

BinaryMaxSum @ 93740516

+Subproject commit 937405169cca20be57e0c09203d1086cc9cd972a

BlockadeLoader @ d17f4926

+Subproject commit d17f49268f5bb96677f1fb9002b9682f08c83bfc

MaxSum @ 5fbe62ab

+Subproject commit 5fbe62abae9b289a8fb2d084bb62ec02a3d7b116

README.md

+# RMASBench: Multi-Agent Coordination Benchmark
+
+This is the RMASBench benchmarking tool, extended for the paper [Anytime, Efficient and Distributed Multi-Agent Coordination in Urban Search and Rescue](https://lcpz.gitlab.io/publications).
+
+Following are brief instructions on how to install, build and produce the results.
+
+For reference, see the original [repository](https://github.com/rmasbench/rmasbench)
+and the RCR [manual](https://roborescue.sourceforge.io/docs/rcrs-manual.pdf).
+
+## Requirements
+
+- GNU/Linux or macOS
+- Java **1.7**
+- Ant
+- Maven
+
+## Installation
+
+```shell
+git clone --recursive https://github.com/cmi/gopal/rmasbench.git
+```
+
+## Build
+
+```shell
+cd rmasbench
+./build.sh
+```
+
+## Note
+
+The simulator creates some cache files at its first execution. This procedure
+can take hours on slow machines. To skip it, download the
+[cache-rays.zip](https://git.soton.ac.uk/cmi/gopal/rmasbench-cache) archive and
+unzip the contents into `RSLB2/boot`, overriting the folders `cache/` and
+`rays/` if they already exists.

RSLB2/.classpath

+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="src/main/java"/>
+	<classpathentry exported="true" kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER">
+		<attributes>
+			<attribute name="module" value="true"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry exported="true" kind="lib" path="lib/cglib-nodep-2.2.2.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/CopyLibs/org-netbeans-modules-java-j2seproject-copylibstask.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/javassist-3.18.1-GA.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/junit_4/junit-4.10-javadoc.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/junit_4/junit-4.10-sources.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/junit_4/junit-4.10.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/junit/junit-3.8.2.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/log4j-1.2-api-2.0-beta7.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/log4j-api-2.0-beta7.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/log4j-core-2.0-beta7.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/mapdb-0.9.9.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/mockito-all-1.9.5.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/objenesis-2.1.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/powermock-mockito-1.5.3-full.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/trove-3.0.3.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/rescuecore2.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/bms-1.0.1-SNAPSHOT.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/MaxSum.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/kernel.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/clear.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/collapse.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/gis2.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/handy.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/human.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/ignition.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/maps.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/misc.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/resq-fire.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/sample.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/traffic3.jar"/>
+	<classpathentry exported="true" kind="lib" path="jars/standard.jar"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>

RSLB2/.gitignore

+# Folder to store dependency sources
+dependencies
+
+# Non-distributable scenarios
+scenarios/**/*.xml
+
+# Local logging setup
+supplement/*.xml
+supplement/*.properties
+
+# Run results
+boot/logs
+boot/results
+boot/export
+boot/*.png
+boot/**/*.cfg
+boot/*.gps
+boot/rays/*
+boot/cache/*
+
+# Log files
+run/logs
+
+# Compiled classes
+build
+
+# Generated jar
+dist
+
+# Private netbeans stuff
+nbproject/private
+/bin/

RSLB2/.project

+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>RSLB2</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>

RSLB2/README.md

+# Known bugs
+
+- [ ] The scoring function should not improve when fires are *indomable*. A fire
+  is *indomable* when it cannot be contained by the available fire fighters.
+  In these cases, the score should be reduced by a factor that is proportional
+  to the percentage of burned-down buildings, and the percentage of buildings
+  that reported significant damage.

RSLB2/boot/config/roborescue/.civilian.cfg.dist

+!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

RSLB2/boot/config/roborescue/.clear.cfg.dist

+!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: 1250

RSLB2/boot/config/roborescue/.collapse.cfg.dist

+!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: false
+
+# Assumed height of walls per floor in m.
+collapse.floor-height: 7
+
+# Possible extent of wall collapse.
+collapse.wall-extent.min: 0.4
+collapse.wall-extent.max: 1

RSLB2/boot/config/roborescue/.common.cfg.dist

+!include types.cfg
+
+# Random seed for all components
+random.seed: 1
+
+senario.human.random-id: true
+
+kernel.host: localhost
+kernel.port: 7000

RSLB2/boot/config/roborescue/.comms.cfg.dist

+!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

RSLB2/boot/config/roborescue/.generator.cfg.dist

+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

RSLB2/boot/config/roborescue/.gis.cfg.dist

+# 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

RSLB2/boot/config/roborescue/.ignition.cfg.dist

+!include common.cfg
+
+# The lambda value of the Poisson distribution used to choose how many fires to ignite per timestep
+ignition.random.lambda: 0.05
+
+ignition.gas_station.explosion.range:50000
\ No newline at end of file

RSLB2/boot/config/roborescue/.kernel-inline.cfg.dist

+!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: 300
+
+# 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
+kernel.perception.auto: rescuecore2.standard.kernel.StandardPerception
+
+# 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

RSLB2/boot/config/roborescue/.kernel.cfg.dist

+!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: 300
+
+# 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: 3600000 # 1 hour 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
+kernel.perception.auto: rescuecore2.standard.kernel.StandardPerception
+
+# Automatic choice of communication model
+kernel.communication.auto: rescuecore2.standard.kernel.comms.ChannelCommunicationModel
+
+# Kernel UI components
+kernel.ui.components: rescuecore2.standard.kernel.StandardWorldModelViewerComponent

RSLB2/boot/config/roborescue/.logviewer.cfg.dist

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