Cooperation among Heterogeneous Agents Using the L-DCOP Model in RRS

Abstract

RRS (RoboCupRescue Simulation) is a disaster relief simulation for urban earthquakes. The RRS has some rescue tasks and some kinds of agents to solve them. This simulation must determine a proper assignment between agents and rescue tasks to rescue civilians as much as possible. It is important for such a disaster relief problem to consider the rescue order of the tasks and time constraints of the tasks and to cooperate among some kinds of agents. This study models the disaster relief problem of RRS with order and time constraints as the Layered DCOP (L-DCOP). The L-DCOP is an extension of DCOP whose definition includes order and time constraints. We designed and implemented disaster relief agents that solve the L-DCOP in RRS. As a result of some simulations under various conditions, we confirmed that some kinds of agents could cooperate appropriately based on the order and time constraints.