continuous-maint.mas2j 7.93 KB
Newer Older
Alan White's avatar
Alan White committed
1 2 3 4 5
//Truckworld/Pacifica inspired MAS

MAS twtest {
	//note; other infrastructures not tested or supported
   infrastructure: Centralised
6
   environment: truckworld.env.Cargoworld("paperWorld1.properties", "nonDetnonDebilSim.properties", "1", "cont-maint-speed")
Alan White's avatar
Alan White committed
7

8 9 10
//87654321
//987654321
//1234567890
Alan White's avatar
Alan White committed
11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28

   /* Agent args;
   knownAgents - if set, defines a fixed list of agents from whom we receive capability notices. If
   				 not set, then we just accept advertisements from everyone
   doMaintain - if true, attempts maintenance / pre-emptive plan repair tasks
   doMaintain - if true, attempts replanning at progressive levels of abstraction when a task or delegated task fails
   mpMaxCost - planning cost maximum limit for precond maint tasks
   domain - domain name used to get primitive capability/goal task factory object
   capabilities - names of primitive capabilities (for use in factory)
   advertised - names of capabilities - both composite and primitive - which are to be advertised 
   				to other agent for potential use as delegated tasks.
   taskKnowledge - goal tasks known, and which we are interested in externalCapabilities for.
   */
   agents:
	
	//STRATEGIC
	//logistics / commander
	//cargo delivery tasks, road clearance
29 30 31
   logisticshq [allowConfRelaxationForPMTs="true",
   				knownAgents="truck1, truck2, truck3, truck4, helicopter1, bulldozer1, bulldozer2, militaryhq", 
   				doMaintain="true", continuousMaintenance="true", doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed", 
Alan White's avatar
Alan White committed
32 33 34 35 36 37 38 39 40
			   	advertised="moveCargo, decontaminateRoad, secure, unblock, unstick",
			   	capabilities="consume", //pcs - none, no effectors
			   	taskKnowledge="moveTo, load, unload, decontaminateRoad, secure, unblock, free"] 
   			agentArchClass agent.type.arch.MultiagentArch 
   			agentClass vehicle.TruckworldAgent
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
       		
  //military HQ
  //secure area, decontaminate, high cost cargo move
41 42 43
   militaryhq [ allowConfRelaxationForPMTs="true",
   				knownAgents="hazmat1, apc1, hazmat2, apc2, logisticshq",
   				doMaintain="true", continuousMaintenance="true", doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed", 
Alan White's avatar
Alan White committed
44 45 46 47 48 49 50 51 52 53 54 55 56 57
			   	advertised="decontaminateRoad, secure, unblock, unstick", //add move-and-clear from organized children...
			   	capabilities="",
			   	taskKnowledge="moveTo, decontaminate, secureArea, unblock, free"]
   			agentArchClass agent.type.arch.MultiagentArch 
   			agentClass vehicle.TruckworldAgent
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
  
   // OPERATIONAL LEVEL AGENTS!
   /* Trucks move cargo
   * Bulldozers clear roads
   * Repair vehicles can tow others to repair sites and fix them
   * APCs secure areas and remove danger zones
   * Helicopters move cargo, but at high cost
   * Hazmats decontaminate toxic roads
58
   * Cranes move cargo between colocated vehicles (TODO)
Alan White's avatar
Alan White committed
59 60 61
   */
  //trucks!
   	truck1 [knownAgents="logisticshq",
62
   			doMaintain="true", continuousMaintenance="true", doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed", 
Alan White's avatar
Alan White committed
63 64 65 66 67 68 69
		   	capabilities="move, load, unload, free", 
		   	advertised="load, unload, moveTo, free",//if we have them...
		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.TruckAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
   	truck2 [knownAgents="logisticshq",
70
   			doMaintain="true",  continuousMaintenance="true",doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed", 
Alan White's avatar
Alan White committed
71 72 73 74 75 76 77
		   	capabilities="move, load, unload, free", 
		   	advertised="load, unload, moveTo, free",//if we have them...
		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.TruckAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
   	truck3 [knownAgents="logisticshq",
78
   			doMaintain="true",  continuousMaintenance="true",doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed", 
Alan White's avatar
Alan White committed
79 80 81 82 83 84
		   	capabilities="move, load, unload, free", 
		   	advertised="load, unload, moveTo, free",//if we have them...
		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.TruckAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
85
   	
Alan White's avatar
Alan White committed
86 87
  //bulldozer agent(s)
  bulldozer1	[	knownAgents="logisticshq",
88
   					doMaintain="true",  continuousMaintenance="true",doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed", 
Alan White's avatar
Alan White committed
89 90 91 92 93 94
					capabilities="move, unblock, free",
		   			advertised="unblock, moveTo, free",
		   			taskKnowledge="decontaminateRoad, secure, unstick"] 
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.BulldozerAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
95
       		
Alan White's avatar
Alan White committed
96
  bulldozer2	[	knownAgents="logisticshq",
97
   					doMaintain="true",  continuousMaintenance="true",doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed", 
Alan White's avatar
Alan White committed
98 99 100 101 102 103
					capabilities="move, unblock, free",
		   			advertised="unblock, moveTo, free",
		   			taskKnowledge="decontaminateRoad, secure, unstick"] 
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.BulldozerAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
104 105 106
 
  helicopter1	[	knownAgents="logisticshq",
   				doMaintain="true",  continuousMaintenance="true",doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed", 
Alan White's avatar
Alan White committed
107 108 109 110 111 112
  				capabilities="takeOff, land, fly, load, unload",
		   		advertised="moveTo, load, unload",
  				taskKnowledge="secure"] 
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.HeliAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase; 
113
 
Alan White's avatar
Alan White committed
114
  	apc1	[	knownAgents="militaryhq", 
115
   				doMaintain="true",  continuousMaintenance="true",doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed", 
Alan White's avatar
Alan White committed
116 117 118 119 120 121 122
  				capabilities="move, secureArea, free",
		   		advertised="moveTo, secureArea",
		   		taskKnowledge="moveAndClear, decontaminateRoad, unblock, unstick"]
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.ApcAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
  	apc2	[	knownAgents="militaryhq", 
123
   				doMaintain="true",  continuousMaintenance="true",doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed", 
Alan White's avatar
Alan White committed
124 125 126 127 128 129 130 131
  				capabilities="move, secureArea, free",
		   		advertised="moveTo, secureArea",
		   		taskKnowledge="moveAndClear, decontaminateRoad, unblock, unstick"]
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.ApcAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;

  hazmat1	[	knownAgents="militaryhq",
132
   				doMaintain="true",  continuousMaintenance="true",doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed",  
Alan White's avatar
Alan White committed
133 134 135 136 137 138
  				capabilities="move, decontaminate, free",
		   		advertised="moveTo, decontaminate, free",
		   		taskKnowledge="moveAndClear, secure, unblock, unstick"] 
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.HazmatAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
139

Alan White's avatar
Alan White committed
140
  hazmat2	[	knownAgents="militaryhq",
141
   				doMaintain="true",  continuousMaintenance="true",doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-speed", 
Alan White's avatar
Alan White committed
142 143 144 145 146 147 148 149 150
  				capabilities="move, decontaminate, free",
		   		advertised="moveTo, decontaminate, free",
		   		taskKnowledge="moveAndClear, secure, unblock, unstick"] 
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.HazmatAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
 
   aslSourcePath: "src/asl/truckworld"; 
}