replan-paper.mas2j 7.48 KB
Newer Older
Alan White's avatar
Alan White committed
1 2 3 4
//Truckworld/Pacifica inspired MAS

MAS twtest {
	//note; other infrastructures not tested or supported
Alan White's avatar
Alan White committed
5
   infrastructure: Centralised
6
<<<<<<< HEAD
Alan White's avatar
Alan White committed
7
   environment: truckworld.env.Cargoworld("paperWorld1.properties", "nrisk3/ndebil0.properties", "3", "replan")
Alan White's avatar
Alan White committed
8 9


10
=======
Alan White's avatar
Alan White committed
11 12
   environment: truckworld.env.Cargoworld("paperWorld2.properties", "nonDetnonDebilSim.properties", "6", "replan")
   
13
>>>>>>> 05cc582c641f987af4f3e18670985a1c2c20708f
Alan White's avatar
Alan White committed
14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43
   /* 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
   logisticshq [allowConfRelaxationForPMTs="true",
   				knownAgents="truck1, truck2, truck3, truck4, helicopter1, bulldozer1, bulldozer2, militaryhq", 
   				doMaintain="false", doReplan="true", pmMaxCost=10, domain="truckworld", 
			   	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
   militaryhq [ allowConfRelaxationForPMTs="true",
44
   				knownAgents="hazmat1, apc1, hazmat2, apc2, apc3, apc4, logisticshq",
Alan White's avatar
Alan White committed
45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86
   				doMaintain="false", doReplan="true", pmMaxCost=10, domain="truckworld", 
			   	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
   * Cranes move cargo between colocated vehicles (TODO)
   */
  //trucks!
   	truck1 [knownAgents="logisticshq",
   			doMaintain="false", doReplan="true", pmMaxCost=10, domain="truckworld", 
		   	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",
   			doMaintain="false", doReplan="true", pmMaxCost=10, domain="truckworld", 
		   	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",
   			doMaintain="false", doReplan="true", pmMaxCost=10, domain="truckworld", 
		   	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;
87 88 89 90 91 92 93 94 95 96
       		
   	  helicopter1	[	knownAgents="logisticshq",
   				doMaintain="true", doReplan="false", pmMaxCost=25, domain="truckworld", planningMode="-quality", 
  				capabilities="takeOff, land, fly, load, unload",
		   		advertised="moveTo, load, unload",
  				taskKnowledge="secure"] 
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.HeliAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase; 
 
Alan White's avatar
Alan White committed
97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152
  //bulldozer agent(s)
  bulldozer1	[	knownAgents="logisticshq",
   					doMaintain="false", doReplan="true", pmMaxCost=10, domain="truckworld", 
					capabilities="move, unblock, free",
		   			advertised="unblock, moveTo, free",
		   			taskKnowledge="decontaminateRoad, secure, unstick"] 
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.BulldozerAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
       		
  bulldozer2	[	knownAgents="logisticshq",
   					doMaintain="false", doReplan="true", pmMaxCost=10, domain="truckworld", 
					capabilities="move, unblock, free",
		   			advertised="unblock, moveTo, free",
		   			taskKnowledge="decontaminateRoad, secure, unstick"] 
       		agentArchClass agent.type.arch.MultiagentArch
       		agentClass vehicle.BulldozerAgent 
       		beliefBaseClass agent.beliefBase.WorldBeliefBase;

  	apc1	[	knownAgents="militaryhq", 
   				doMaintain="false", doReplan="true", pmMaxCost=10, domain="truckworld", 
  				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", 
   				doMaintain="false", doReplan="true", pmMaxCost=10, domain="truckworld", 
  				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",
   				doMaintain="false", doReplan="true", pmMaxCost=10, domain="truckworld",  
  				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;

  hazmat2	[	knownAgents="militaryhq",
   				doMaintain="false", doReplan="true", pmMaxCost=10, domain="truckworld", 
  				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"; 
}