The 19th Annual Conference of the Japanese Society for Artificial Intelligence, 2005

'RoboCupRescue 䝖䝩䞀䝢䝷䝮䞀䜴䛱䛐䛗䜑ណᛦỬᏽᨥᥴ᪁Ἢ䛴᳠ゞDecision Support in RoboCupRescue Human-League᱋⏛ ႌ㝧*1Yoshitaka Kuwata*1㻃

NTT 䝋䞀䝃

NTT DATA CORPORATION“RoboCupRescue Human-League” (RCRHL) is a framework in which humans act as agents in disaster simulation basedon RoboCupRescue. RCRHL provides humans to practice making decisions for disaster response. RCR-HL can be used toevaluate decision support systems (DSS), if humans use DSS for their decision in disaster simulation. We propose decision
support functions for disaster response and to evaluate the functions with RCRHL.

1. 䛵䛞䜇䛱䝢䝯䝅䜬䞀䜼䜫䝷䝌䝿䜻䝣䝩䝰䞀䜻䝫䝷䜻䜽䝊䝤䛴᭯ງ䛰䜦䝛䝮䜵䞀䜻䝫䝷䛴ୌ䛪䛮䛝䛬䟾ⅇᐐᑊᚺゝ⏤䛴フ౮䛾䛴ᚺ⏕䛒᭿ᙽ䛛䜒䛬䛊䜑䠀RoboCupRescue[2]䟺௧ୖ䟾RCR䟻䛵ᆀ㟀䜊ᆀ㟀䛱ఔ䛌ℾⅇ䛰䛯䛴⮤↓ⅇᐐ䛐䜎䛹ெ㛣䛱䜎䜑ⅇᐐᑊᚺὩິ䜘䜬䞀䜼䜫䝷䝌䜻䝣䝩䝰䞀䜻䝫䝷䛱䜎䛩䛬්⌟䛟䜑䛙䛮䛭䟾ⅇᐐᑊᚺゝ⏤䛴フ౮䜘⾔䛌䛥䜇䛴䝙䝰䞀䝤䝳䞀䜳䛭䛈䜑䠀㎾ᖳ䟾ኬ㒌ᕰኬ㟀
ⅇ㍇΅໩≁ื䝛䝱䜼䜫䜳䝌[3]䛭䛵䟾୕オ䛱ຊ䛎䛬ᐁୠ⏲䛴ふῼ᝗ሒ䜘ᇱ䛱䛝䛥䜻䝷䜿䜻䝇䜳䜻䝣䝩䝰䞀䜻䝫䝷䜘ᐁ᪃䛟䜑䛙䛮䛭ⅇᐐᑊᚺ᫤䛴ណᛦỬᏽ䛱ฺ⏕䛟䜑䛙䛮䛒ᥞ᱄䛛䜒䛬䛊䜑䠀ᮇㄵᩝ䛭䛵䟾RCR 䜊ኬ㒌ᕰኬ㟀ⅇ㍇΅໩≁ื䝛䝱䜼䜫䜳䝌䛭షᠺ䛛䜒䛬䛊䜑䜻䝣䝩䝰䞀䝃䛱䟾ெ㛣䛒ୌ䜬䞀䜼䜫䝷䝌䛮䛝䛬ཤຊ䛟䜑䛙䛮䛭䜻䝣䝩䝰䞀䜻䝫䝷䜘⾔䛌䟾ெ㛣ཤຊᆵ䜻䝣䝩䝰䞀䜻䝫䝷䜘ᥞ᱄䛟䜑䠀ெ㛣ཤຊᆵ䜻䝣䝩䝰䞀䜻䝫䝷䛭䛵䟾䜻䝣䝩䝰䞀䜻䝫䝷䛱ཤຊ䛝䛥ெ㛣䛴⾔ິ⤎ᯕ䜘㏳䛞䛬䟾ெ㛣䛴ᨥᥴ䜘⾔䛌ណᛦỬᏽᨥᥴ䜻䜽䝊䝤䛴フ౮䜘⾔䛌䛙䛮䛒ྊ⬗䛮䛰䜑䠀ᮇㄵᩝ䛭䛵䟾ெ㛣ཤຊᆵ䜻䝣䝩䝰䞀䜻䝫䝷䜻䜽䝊䝤䛮䛝䛬 RCR䛴ⅇᐐᑊᚺ䜻䝣䝩䝰䞀䝃䜘ฺ⏕䛝䛥 RoboCupRescue 䝖䝩䞀䝢䝷䝮䞀䜴[1]䟺௧ୖ䟾RCRHL䟻䜘ཱི䜐୕䛘䜑䠀

2. RoboCupRescue 䝖䝩䞀䝢䝷䝮䞀䜴
RCRHL 䛵 RCR 䛴䝙䝰䞀䝤䝳䞀䜳䜘䛣䛴䜄䜄ฺ⏕䛝䛬䟾ெ㛣䛒䜻䝣䝩䝰䞀䜻䝫䝷୯䛱䜬䞀䜼䜫䝷䝌䛮䛝䛬ཤຊฝᮮ䜑䜎䛌䛱ᣉᘿ䛝䛥䜈䛴䛭䛈䜑䠀ᚉᮮ䛴 RCR 䛴ཱི䜐⤄䜅䛭䛵䟾ெ㛣䛴⾔ິ䛵஢䜇䝦䝋䝯໩䛛䜒䟾䜬䞀䜼䜫䝷䝌䛴䝛䝱䜴䝭䝤䛮䛝䛬䜻䝣䝩䝰䞀䜻䝫䝷䛱⤄䜅㎲䜆䛙䛮䛭䟾䛣䛴⾔ິ䛴ጂᙔᛮ䛴フ౮䜊ណᛦỬᏽ䛴⤎ᯕ䛴フ౮䛒⾔䜕䜒䛥䠀䛙䜒䛱ᑊ䛝䛬 RCRHL 䛭䛵䟾ெ㛣䛒䜻䝣䝩䝰䞀䜻䝫䝷䛱ୌ䜬䞀䜼䜫䝷䝌䛮䛝䛬├᥃ཤຊ䛝ᑊリⓏ䛱⾔ິ䜘Ửᏽ䛝䛬⾔䛕䛙䛮䛒ྊ⬗䛭䛈䜑䠀䛙䛴䛥䜇䟾ᐁ㝷䛴ெ㛣䛴⾔ິ䜘䝦䝋䝯໩䛟䜑䛙䛮䛰䛕├᥃フ౮䛟䜑䛙䛮䛒ྊ⬗䛮䛰䜑䠀᭞䛱䟾⾔ິ䜘Ửᏽ䛟䜑ᇱ♇䛮䛰䜑᝗ሒᥞ౩᪁Ἢ䛴フ౮䜘⾔䛌䛙䛮䜈ྊ⬗䛮䛰䜑䠀RCRHL 䛵௧ୖ䛱䛈䛘䜑ᚺ⏕䛒᭿ᙽ䛛䜒䜑䠀
・ RCR ࢨ࣐࣭ࣖࣝࢰ⩄ࢅὩ⏕ࡊࡒⅇᐐᑊᚺࡡゥ⦆Ở・ ྘⛸ⅇᐐᑊᚺゝ⏤ࡡフ౮Ở・ ⅇᐐᑊᚺࡡࡒࡴࡡ᝗ሒࢨࢪࢷ࣑ࡡフ౮Ở

2.1 RCRHL 䜦䞀䜱䝊䜳䝅䝧ᅒ䠃䛱 RCRHL 䛴ᇱᮇ䜦䞀䜱䝊䜳䝅䝧䜘♟䛟䠀RCR 䝛䝱䜴䝭䝤⩄䛱䟾ெ㛣䛒䜬䞀䜼䜫䝷䝌䛮䛝䛬ཤຊ䛟䜑䛥䜇䛴䜨䝷䝃䝙䜫䞀䜽⏕䛴䝛䝱䜴䝭䝤䟺Command Post䟻䜘㏛ຊ䛝䛥䜈䛴䛮䛰䛩䛬䛊䜑䠀
RCRHL 䛵 RCR 䜻䜽䝊䝤䛴ᵋᠺさ⣪䜘ን᭞䛟䜑䛦䛗䛭ᐁ⌟ฝᮮ䜑䛥䜇䟾㛜Ⓠ䛒ᐖ᪾䛭䛈䜑䛮䛊䛌ฺⅤ䛒䛈䜑䠀ỞỞ

GISFire Fighter
Ambulance

ViewerRescueKernelPolice Force

CommandPost

CivilianTrafficRoad
Blcokade

FireMisc.

Simulators
ᅒ 1 RCRHL 䛴ᇱᮇ䜦䞀䜱䝊䜳䝅䝧

2.2 RCRHL 䝛䝱䝌䜷䝯
RCR 䛭䛵䜬䞀䜼䜫䝷䝌㛣䛴㏳ಘ䝛䝱䝌䜷䝯䛵㛜Ⓠ⩽䛒⮤⏜䛱スゝ䛟䜑䛙䛮䛒䛭䛓䜑䛒䟾RCRHL 䛭䛵ெ㛣䛑䜏䛴࿤௦䜘よ㔐䛝䛬ᐁ⾔䛟䜑䛥䜇䛴ᵾ‵䜷䝢䝷䝍䜘ᏽ䜇䛬䛊䜑䠀ᚉ䛩䛬䟾RCRHLᐁ⾔䛱䛈䛥䛩䛬䛵䟾ᵾ‵䜷䝢䝷䝍䜘よ㔐䛟䜑䜬䞀䜼䜫䝷䝌䜘౐䛌䠀ᵾ‵䜷䝢䝷䝍䜘よ㔐䛟䜑䜬䞀䜼䜫䝷䝌䛵ᵾ‵䜷䝢䝷䝍䜘Ⓠ⾔䛟䜑
Command Post ධ䛬䛮பᥦᛮ䛒䛈䜑䠀䛙䜒䛱䜎䛩䛬䟾ᵾ‵䜷䝢䝷
䝍䜘Ⓠ⾔䛟䜑䛒␏䛰䜑スゝ䜘ᣚ䛪 Command Post ྜྷኃ䛴Ẓ㍉䛒ྊ⬗䛱䛰䜑䠀
⾪ 1 䛱୹䛰䜷䝢䝷䝍䜘♟䛟䠀䜷䝢䝷䝍⾪䠃㻃 RCRHL 䛴୹䛰䜷䝢䝷䝍ᑊ㇗䜬䞀䜼䜫䝷䝌ណ࿝

GoToᣞ♟ྊ⬗䛰䜬䞀䜼䜫䝷䝌ᣞᏽሔᡜ䛱⾔䛓Ὡິ䛡䜎

Extinguishᾐ㜭䜬䞀䜼䜫䝷䝌ᣞ♟䛝䛥ሔᡜ䛭ᾐℾ䛡䜎

Clear㐠㊪ၤ㛜䜬䞀䜼䜫䝷䝌ᣞ♟䛝䛥㐠㊪䜘ၤ㛜䛡䜎Rescueᨾຐ䜬䞀䜼䜫䝷䝌ᣞ♟䛝䛥ሔᡜ䛭ᨾຐ䛡䜎

Reportᣞ♟ྊ⬗䛰䜬䞀䜼䜫䝷䝌⌟ᅹ䛴≟ឺ䜘ሒ࿈䛡䜎

㏻⤙඙䠌᱋⏛ႌ㝧䟾NTT 䝋䞀䝃㻃 ᢇ⾙㛜Ⓠᮇ㒂䟾䚾104-0033᮶ா㒌୯ኳ༇᩺ᕖ 1-21-2 ⱬሔ⏣䝃䝳䞀䟾TEL:03-35238080䟾FAX:03-3523-8150䟾E-mail: kuwatay@nttdata.co.jp-1-The 19th Annual Conference of the Japanese Society for Artificial Intelligence, 2005

3. RoboCupRescue 䝖䝩䞀䝢䝷䝮䞀䜴䛴ᐁ⿞୕㏑䛴 RCRHL 䜘フ౮䛴䛥䜇䛱ᐁ⿞䛝䛥䠀䛙䛙䛭䛵䟾ᐁ⿞䛱䛈䛥䛩䛬䛴රమⓏ䛰䝛䝱䜴䝭䝤䛴スゝ䛱䛪䛊䛬㏑䛿䜑䠀

3.1 Command Post 䛴スゝ
RCRHL 䛱䛐䛗䜑ណᛦỬᏽ䛵୹䛱ⅇᐐᑊᚺ䝮䝁䞀䜽䛴๪䜐ᙔ䛬᪁Ἢ䛭䛈䜑䠀๪䜐ᙔ䛬ྊ⬗䛰䝮䝁䞀䜽䜘ຝ⋙Ⰳ䛕ⅇᐐⓆ⏍ᆀ༇䛱๪䜐ᙔ䛬䜑䛙䛮䛭䟾⿍ᐐ䜘᭩ᑚ㝀䛱㣏䛊Ḿ䜇䜑䛙䛮䛒ྊ⬗䛮䛰䜑䠀ណᛦỬᏽ䛴䛥䜇䛱䛵ྊ⬗䛰䝮䝁䞀䜽䛐䜎䛹๪䜐ᙔ䛬䛴ᚪ
さ䛰ⅇᐐⓆ⏍ᆀ༇䜘ྜྷ᫤䛱♟䛟䛮䛙䛮䛒ᚪさ䛭䛈䜑䠀䜄䛥䟾๪䜐ᙔ䛬䜑䝃䜨䝣䝷䜴䜈㔔さ䛭䛈䜑䠀䜻䝣䝩䝰䞀䜻䝫䝷䛱ཤຊ䛝䛥ெ㛣䛒䟾≟Ἓ䜘䝦䝏䝃䛝䟾䝃䜨䝤䝮䞀䛱ᣞ♟䜘ฝ䛟䛙䛮䛵㞬䛝䛊䠀䛣䛙䛭䟾ណᛦỬᏽᨥᥴᶭ⬗䜘 Command Post 䛱⤄䜅㎲䜆䛙䛮䛮䛝䛥䠀ᅒ䠄䛱 Command Post 䛴ᇱᮇᵋᠺ䜘♟䛟䠀ெ㛣䛴ᨥᥴ䜘⾔䛌
䛥䜇䟾Command Post 䛵ណᛦỬᏽᨥᥴ䝦䜼䝩䞀䝯䛮䛝䛬ᐁ⿞䛝䛥䠀௧ୖ䛱䝦䜼䝩䞀䝯䛴ᴣさ䜘♟䛟䠀• ≟Ἓヾㆉ䝦䜼䝩䞀䝯㟀ⅇ⥪ྙ䜻䝣䝩䝰䞀䜻䝫䝷䜻䜽䝊䝤䛮䛴䜨䝷䝃䝙䜫䞀䜽䜘ྒྷ䜑䝦䜼䝩䞀䝯䠀PA 䛑䜏ᵾ‵䝛䝱䝌䜷䝯䛭ሒ࿈䛛䜒䜑හᐖ䜘よ㔐䛝䛬䜻䝣䝩䝰䞀䜻䝫䝷ୠ⏲䛭䛴஥㇗䜘්ᵋᠺ䛟䜑• ណᛦỬᏽᨥᥴ䝦䜼䝩䞀䝯ெ㛣䛴ណᛦỬᏽ䜘ᨥᥴ䛟䜑䛥䜇䛴ᨥᥴ᝗ሒ䜘⏍ᠺ䛟䜑䝦䜼䝩䞀䝯• 䝪䞀䜺䜨䝷䝃䝙䜫䞀䜽䝦䜼䝩䞀䝯䝪䞀䜺䛱㐲ว䛱᝗ሒ䜘ᥞ♟䛝䟾䝪䞀䜺䛑䜏䛴ᣞ♟䜘㐲ว䛱よ㔐䛟䜑䛥䜇䛴䝦䜼䝩䞀䝯• 䜷䝢䝷䝍⏍ᠺ䝦䜼䝩䞀䝯䝪䞀䜺䛑䜏䛴ᣞ♟䛱ᇱ䛫䛓䝥䝇䜿䞀䜼䜘⏍ᠺ䛝䟾ᵾ‵䝛䝱䝌䜷䝯䛱ᚉ䛩䛬䜬䞀䜼䜫䝷䝌䛱ఎ䛎䜑䛥䜇䛴䝦䜼䝩䞀䝯ᅒ 3 フ౮䜻䜽䝊䝤䛴䝪䞀䜺䜨䝷䝃䝙䜫䞀䜽スゝ䟺䠃䟻ᅒ 4㻃 フ౮䜻䜽䝊䝤䛴䝪䞀䜺䜨䝷䝃䝙䜫䞀䜽スゝ䟺䠄䟻

4. 䜄䛮䜇䛮௑ᚃ䛴ㄚ㢗ᮇ ✇ 䛭 䛵 䟾 ெ 㛣 ཤ ຊ ᆵ 䜻䝣 䝩䝰 䞀 䜻䝫 䝷 䜻䜽 䝊 䝤 䛮 䛝 䛬䟾RCRHL 䛴ᯗ⤄䜅䛴ฺ⏕䜘ᥞ᱄䛝䛥䠀䜄䛥フ౮䜻䜽䝊䝤䛴スゝ䛱䛪䛊䛬㏑䛿䛥䠀
RCRHL 䛵䟾᪜䛱㧏஬䜏[1]䛱䜎䛩䛬ᇱ♇Ⓩ䛰ᐁ㥺䛒⾔䜕䜒䛬䛐䜐䟾フ౮䛴䛥䜇䛴䝛䝭䝇䝌䝙䜭䞀䝤䛮䛝䛬䛴᭯ຝᛮ䛒☔ヾ䛛䜒䛬䛊䜑䠀ᮇㄵᩝ䛭♟䛝䛥フ౮䜻䜽䝊䝤䜘౐䛩䛬䟾᝗ሒභ᭯䛴᭯ຝᛮ䛴フ౮ᐁ㥺䜘ᐁ᪃䛟䜑஢ᏽ䛭䛈䜑䠀
ᅒ 2㻃 Command Post 䛴ᵋᠺ

3.2 䝪䞀䜺䜨䝷䝃䝙䜫䞀䜽䛴スゝᅒ䠅䛐䜎䛹ᅒ 4 䛱フ౮䜻䜽䝊䝤䛴䝪䞀䜺䜨䝷䝃䝙䜫䞀䜽䛴䜨䝥䞀䜼䜘♟䛟䠀᧧షᛮ䜘⩻៎䛝䛬䟾ᚪさ䛰᝗ሒ䛴䜅䜘⾪♟䛟䜑䜻䝷䝛䝯䛰ᵋᠺ䛮䛝䛥䠀⏤㟻䛵ኬ䛓䛕䠅䛪䛴䜬䝮䜦䛑䜏ᵋᠺ䛛䜒䛬䛊䜑䠀
1. ⏤㟻ྎ䛴䜬䝮䜦䛵ᆀᅒ䛴レ⣵䜘♟䛝䛬䛐䜐䟾䜬䞀䜼䜫䝷䝌䛴⾔ິ䜘☔ヾ䛟䜑䛙䛮䛒ฝᮮ䜑䠀
2. ᕞ୕䛴䜬䝮䜦䛵ᑊ㇗䛮䛟䜑ᆀᇡධమ䛴ᴣさ䜘⾪䛝䛬䛊䜑䠀䛙䛴䜬䝮䜦䛭ᆀᇡධమ䜘ಟ▌䛟䜑䛙䛮䛒ྊ⬗䛭䛈䜑䠀
3. ᕞୖ䛴䜬䝮䜦䛱䛵䟾䜬䞀䜼䜫䝷䝌䛴ୌの䛮䟾䜬䞀䜼䜫䝷䝌䛱ฝ䛟ᣞ♟䛴ୌの䛒⾪♟䛛䜒䛬䛐䜐䟾䛙䛴䜬䝮䜦䛑䜏䝢䜪䜽䜘౐䛩䛬ᣞ♟䜘ฝ䛟䛙䛮䛒ྊ⬗䛭䛈䜑䠀ཤ⩻ᩝ⊡[1] 㧏஬᭰ᖶ䟾᱋⏛ႌ㝧䟾➁හ㑫㞕䟾RoboCupRescue 䝖䝩䞀䝢䝷䝮䞀䜴䛴スゝ,᝗ሒฌ⌦Ꮥఌ ➠䠃䠂ᅂ䜶䞀䝤᝗ሒᏕ◂✪ఌ䟺2003䟻
[2] Kitano, H. and Tadokoro, S., RoboCup Rescue: Search andRescue in Large-Scale Disaster as a Domain for Autonomous
Agents Research, in IEEE International Conference onSystems, Man, and cybernetics(1999)[3] ➁හ㑫㞕䟾㟀ⅇ⥪ྙ䜻䝣䝩䝰䞀䜻䝫䝷䜻䜽䝊䝤䛱ᑊ䛟䜑 IT䛴ᙲ๪䟾➠䠆ᅂゝῼ⮤ິโᚒᏕఌ䜻䜽䝊䝤䜨䝷䝊䜴䝰䞀䜻䝫䝷㒂㛓ㅦⁿఌ, pp. 39 - 42䟺䠄䠂䠂䠅䟻, 1B2-1-2-