Lectures
TDDD10AIProgramming
IntroductiontoRoboRescue
CyrilleBerger
1 AIProgramming:Introduction
2 IntroductiontoRoboRescue
3 AgentsandAgentsArchitecture
4 Communication
5 MultiagentDecisionMaking
6 CooperationAndCoordination1
7 CooperationAndCoordination2
8 MachineLearning
9 KnowledgeRepresentation
10PuttingItAllTogether
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Lecturegoals
Lecturecontent
Acquireknowledgeonhowthe
rulesandhowtheRoboRescue
Simulatorworks
Acquireknowledgeonhowto
programtheRoboRescueSimulator
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SimulatorOverview
SimulatorsandFramework
ProgrammingAgents
Communication
VisualisationandLogging
Scenarios
LabsOverview
Competition
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Simulatorarchitecture
SimulatorOverview
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Simulators
SimulationTime
theclearsimulator,responsibleforblockade
removal;
thecollapsesimulator,responsibleformanaging
buildings’structuraldamageandblockade
creation;
theignitionsimulator,responsibleforfiringup
randombuildingsduringthesimulation;
thefiresimulator,responsibleforthefirespread
betweenbuildings;
thetrafficsimulator,responsibleforhumans’
movement;
themiscsimulator,responsibleforhumandamage
andburiedness.
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1
Thekernelupdatesallagents’perception(visualand
communication).
2
Theagentsupdatestheirworldmodelandmaketheir
decisions(1s)
3
Thekernelsendstheagents’commandstothe
simulators.
4
Thesimulatorsprocesstheagents’commandsand
sendthechangessufferedbytheenvironmentback
tothekernel.
5
Thekernelsendstheenvironmentchangestothe
viewers.
6
Thekernelupdatesallagents’perception...
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SimulatorView
Buildings
Fromlefttoright:refuge,ambulancecentre,
firestation,hydrant,policeoffice,gasstation
Listofproperties:brokeness,fieryness,floors,
groundarea,ignite,temperature
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Humans
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Perception
Listofproperties:buriedness,
damage,HP,positionhistory
Typeofagents:
policeforce:canclearblockade
firemen:canextinguishfire
ambulance:candigouthumansandbringthem
tosafety
civilians
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Scorecomputation
Canonlydecreaseovertime
LegacyScoreFunction:
sqrt(buildingareasaved)
*(civiliansalive+civilian
SimulatorsandFramework
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Modules
Exampleofsimulator:firesimulator
Sourcecodeisin/home/TDDD10/RescueSimulator/
clear:clearsimulator
modules
collapse:collapsesimulator
gis2:worldmodelandscenarios
human:agentthatcanbecontrolledbya
ignition:ignition
kernel
maps:worldmodelandscenarios
misc:humanhealth
misc-new:alternativeimplementationofthemisc
rescuecore2:corelibrary(withinterfacesandabstractclasses)
resq-fire:firesimulator
sample:sourcecodeofthesampleagents
standard:corelibrary(basicimplementationoftheinterfaces)
traffic3:traffic
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Rescuecore2/standard
rescuecore2:corelibrary(withinterfacesandabstractclasses)
components:baseagents...
config
connection:kerneltosimulator/agents
log
messages:usedforcommunicationwithkernel
misc/registry
scenario
score:ascorecomputationlibrary
view:interfaceforaviewer
worldmodel
ProgrammingAgents
standard:corelibrary(basicimplementationoftheinterfaces)
components:agents...
entities:mapitemsandagents
kernel:classusedbythekernel
messages:commandssentbytheagent
misc
score:implementationoftheLegacyScore
view:implementationoftheviewer
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WorldModel
Everyagenthasa
StandardWorldModel
model
WorldModel:exampleofusegetObjectsInRange
getObjectsInRectangle:listof
objectsinagivenrectangle
getObjectsInRange:listofobjects
nearanotherobject
getEntitiesOfType:listallentities
ofagiventype
getDistance
getEntity
uselistenertomonitorchanges
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List<EntityID>planPathToFire(EntityIDtarget)
{
//TrytogettoanythingwithinmaxDistance
//ofthetarget
Collection<StandardEntity>targets
=model.getObjectsInRange(target,maxDistance);
if(targets.isEmpty()){
returnnull;
}
returnsearch.breadthFirstSearch(
me().getPosition(),objectsToIDs(targets));
}
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Commands
AKClearArea:clearablockade
ListofcommandsandStandardAgentfunction
usedtocreatethem:
AKClearArea/sendClear:usedtoclearablockade(policeforce)
AKExtinguish/sendExtinguish:usedtoextinguishabuilding
(firemen)
AKLoad/sendLoad:usedtoloadacivilian(ambulance)
AKMove/sendMove:usedtomovetheagent(all)
AKRescue/sendRescue:digoutahuman(ambulance)
AKRest/sendRest:forthelazyagents(all)
AKUnload/sendUnload:usedtouloadacivilian(ambulance)
voidsendClear(inttime,intdestX,int
destY)
time:thecurrenttime
destX:ThedestinationXcoordinatetoclear
destY:thedestinationYcoordinatetoclear
Atmostoneofthosecommandspercycle!
nocommandsentmeanstheagentdoes
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AKMove:moveanagent
voidsendMove(inttime,List<EntityID>
path)
time:thecurrenttime
path:thepathtosend.
Pitfalls
Thefirstentryofthepathmustbeyour
currentposition
Alwayssendmorethantwo
Youneedtosendamovecommandeveryturn
untilyoudecideyouhavereachedyourdestination
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Communication
ChannelCommunicationModel
CommunicationCommands
Multiple"radio"channels
Noisy
Listofcommandsand
StandardAgentfunctionusedto
createthem:
dropouts
corruption
Twotypesof
Voicechannel
Alwaysavailable(limitedrange
Usuallyonemessageof256bytesperagent
Radiochannels
Notalwaysavailable
Usuallynorange
Sharedbandwidthbetweenagent(from256to4000bytesdepending
onconfiguration)
AKSpeak/sendSpeak:usedtosenddataon
achannel
AKSubscribe/sendSubscribe:usedto
subscribetoachannel
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AKSpeak:speak
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AKSubscribe:subscribe
voidsendSpeak(inttime,intchannel,
byte[]data)
time:thecurrenttime
channel:thechanneltospeakon
data:thedatatosend
voidsendSubscribe(inttime,int...channels)
time:thecurrenttime
channels:listofchannels
Pitfalls
Sendinganewcommand,erasewhatwassetinthepast
Insomemaps,limitednumberofchannelsyoucan
Commandsatthebeginningofthesimulationareignored
register
(untilconfig.getIntValue(kernel.KernelConstants.
IGNORE_AGENT_COMMANDS_KEY))
Youdon'thavetoberegisteronachanneltospeakonit,
itisonlyforlistening
eachagentcanhaveasmany
AKSpeakcommandashewants
butdonotclogupyourchannels
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Receivemessages
voidthink(inttime,ChangeSetchanged,
Collection<Command>heard)
listofmessagesisinheard
VisualisationandLogging
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Importanceofvisualisation
Toknowwhyyouragentsare
doingsomething
Spendingacoupleofhours
onfindingabugislosttime
Spendingacoupleofhoursona
visualisationtoolisnotlosttime
Whattovisualise?
Everything
Graphoflongroad.
Whatyouragentsknow.
Whatdecisiontheytake.
Displaytherankingofpriorities.
...
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Viewer
Logging(1/2)
Usinglog4j
SampleViewer:workslikeanagent
AnimatedWorldModelVieweralayeredmap
Standardlayers:building,road,areaneighbours,road
blockade,areaicons,humans,commands,positionhistory
ImplementsyourownbysubclassingStandardViewLayer
Logger.info()
Logger.debug()
CollectionT<RenderedObject>render(Graphics2Dg,ScreenTransform
transform,intwidth,intheight);
Remember:youcanuse
AnimatedWorldModelViewertoviewyour
agentmodel
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Logging(2/2)
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Logviewer
OtrosLogViewer(https://code.google.com/
p/otroslogviewer)
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cd~/RescueSimulator/boot
bashlogviewer.shlogs/rescue.log
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Structureofamap
Twofiles:
map.gml:buildingsandroaddefinition
scenario.xml:definesnumberof
agents,initialfires,stations...
Scenarios
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Scenario.xml
Configuration
<?xmlversion="1.0"encoding="UTF-8"?>
<scenario:scenarioxmlns:scenario="urn:roborescue:map:scenario">
<scenario:firestationscenario:location="19100"/>
<scenario:policeofficescenario:location="15738"/>
<scenario:ambulancecentrescenario:location="36012"/>
<scenario:refugescenario:location="20337"/>
<scenario:firescenario:location="10756"/>
<scenario:hydrantscenario:location="8628"/>
<scenario:gasstationscenario:location="12933"/>
<scenario:civilianscenario:location="17175"/>
<scenario:firebrigadescenario:location="20597"/>
<scenario:policeforcescenario:location="31006"/>
<scenario:ambulanceteamscenario:location="317"/>
</scenario:scenario>
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letshavealook
config.getIntValue("...")
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Lab2:PathPlanning
LabsOverview
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Lab3:Communication
Lab4:CooperativeSensingandTeamExploration
Goalistofindallthevictims
Usingthefrontiercellalgorithm
Extinguishingbuilding
UsingContractNettoauction
buildingextinction
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Lab5:CentralizedTaskAllocation
Lab6:MachineLearning
Thegoalistoimplementafire
stationthatdispatchfirebrigadesto
extinguishfiresusingacentralized
assignmentalgorithm
decisiontreelearningappliedtothe
decisionofwhichbuildingto
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Competition
Competition
weeklycompetition
Usingthreemaps(/home/TDDD10/
maps/competition/):
Kobe:normalcommunication
Berlin:nocommunication(exceptvoice)
Paris:largemapwithunreliabe
communication
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Summary
Overviewofthe
simulatorarchitecture
Howtoprogramagents,
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