RoboCup Rescue Disaster Simulator Architecture

RoboCup-Rescueproject aims to simulate large urban disasters and rescue agents' activities. The simulator must support both simulation of heterogeneous agent such as fire fighters, victims' behaviors and interface to disaster's environments in the real world. RoboCup-Rescue simulator is a comprehensive urban disaster simulator into which a new disaster simulator or rescue agents can be easily plugged. In this paper, the simulator's specitication, based on the Hanshin-Awaji Earthquake, and the simulator's architecture are described.