Cave Exploration

The Cave Exploration ​scenario simulates a team of robots exploring a cave searching for trapped survivors of a recent accident. The user plays the roll of collaborative leader, directing the robots to both explore the cave and rescue survivors.

Quagents Implementation

Cave exploration is implemented using Quagents for both the explorers and trapped survivors, using the Java Quagents API?. The cave explorer Quagents ("Cave Explorers") are loaded with several intelligent behaviors, including exploring unknown territory, following specific entities, rendezvousing with other entities, and rescuing trapped survivors. The user is provided access to these behaviors, as well as a message log of in-game speech and the ability to see using the robot's camera. Using these tools, the user must lead the robots in a search and rescue mission to for the trapped miners.

Environment

This scenario is executed in a deterministic, partially observable environment. Throughout the environment at [TODO] random locations trapped survivors are located. These survivors yell (using a loud say command) for help periodically. This call for help may only be heard within an intermediate radius around the survivor, so explorers must be close to hear the message. The cave explorers must explore this unknown environment to find the survivors.

The environment may be extended to contain pitfalls for the explorers to navigate around, or time limits to rescue survivors by (implemented by reducing health using director commands time interval).

User Notes

User Cave Exploration GUI

Development Notes