JGOMAS user manual - GTI-IA
Contents
1. Figure 1 JGOMAS architecture overview 2 2 JGOMAS MAS As it has been commented JGOMAS MAS works over JADE plat form JADE Java Agent DEvelopment Framework is a software frame work fully implemented in Java language It simplifies the implementation of multi agent systems through a middle ware that complies with the FIPA specifications 2 2 1 JGOMAS Agent Taxonomy JGOMAS has defined a class inheritance hierarchy for agents At the top of the agent hierarchy there is the base class JGomasAgent It inherits directly from JADE s Agent class and it provides a set of basic features services to all JGOMAS agents e g services registry So JGO MAS agents must derive from JGomasAgent class Moreover a JGOMAS agent can be according to its modifiability an internal or external one Internal agents those who are staff in the JGOMAS MAS subsystem Its behaviors are predefined and user cannot change them An agent must specialize in Manager this is an special agent Its main goal is to coordinate the current game Besides it must answer to requests of the rest of agents Another task it does is to provide an interface for Render Engine Thus any instance of Render Engine can connect to the 4 2 JGOMAS DESCRIPTION current game to display the 3D virtual environment Due to the Manager Agent importance the next section do a more detailed explanation of this agent Pack those are medic packs used to give healt2. An example of execution of JGOMAS is java classpath lib jade jar lib jadeTools jar lib Base64 jar lib http jar lib iiop jar lib beangenerator jar lib jgomas jar student jar jade Boot gui Manager es upv dsic gti ia jgomas CManager 4 map_04 125 10 Al student MyMedic ALLIED A2 student MyMedic ALLIED E1 student MyMedic AXIS E2 student MyMedic AXIS According to this example the Agent Manager begins a match with 4 players which play in the map map_04 for 10 minutes at 8 frames per second 125 ms 4 2 Executing Render Engine This application allows to launch an OpenGL window to display JGO MAS agents in a 3D world it is based on the OpenScenGraph toolkit 3 It must be found in the bin render directory Thus user can observe the course of a match However at this point user cannot use Render Engine to send orders to agents User may add some additional parameters when launching this program 1 server name or ip of the machine where is launched Agent Manager acting as server Default value is localhost 2 port is the port used to communicate to server default value is 8001 3 h it shows the help of the render engine 4 2 1 Viewer Window Once a connection is established this window is created where the 3D virtual environment is rendered using OSG e Mouse default camera Double Click over an agent shows info about agent clicked on Left Click rotates th
3. 1099 JADE Main Container a pancemanium 1099 JADE E9 pandemonium 1099JADE RMA pandemonium 1099JAl ams pandemonium 109 A6 pandemonium B Ai pandemoni A4 pandemoni A2 pandemoni df pandemoni Manager panq MedicPack_51 q MedicPack_71 OKI OK E Render Engine for JGOMAS Connection Dialog viewer Server Port localhost 8001 Not connected Figure 8 Execution example of JGOMAS package Following there is a more detailed explanation of executing either JGO MAS MAS and Render Engine 4 1 Executing JGOMAS MAS One of the advantages of JGOMAS is its flexibility for configuring its start up This is possible because user can choose the number and type of agents along with the parameters for each agent These configuration parameters expected for the agents depends on its type e The parameters addressed to the Agent Manager are the following Number of Troop agents to start the match Map scenario where the match is going to be played 1 2 3 Graphic viewers refresh frequency in milliseconds 4 Match duration in minutes e Troop agents accept just one parameter the team that can be either ALLIED or AXIS 4 2 Executing Render Engine 13 User can consider necessary to increment the number of parameters accepted by his agents For that he must create his own agents as it was explained previously to handle these new parameters
4. 2K 2 k k k kK K OK xk 7K x FRR RK OK KOK xk 2K KR KK FR ROK kkk DR A k k k k 2 ak ak 2 k k k kK ak k k k 2k k 2 2K k k k K k K OK e map_04_terrain bmp This file defines the art of the map as it can be seen in the left image of figure 10 e map_04_cost bmp This file defines the walls of the map by using a black amp white image where black represents the wall It may be seen in the right image of figure 10 e map_ 04 tat This file contains the definition of different configuration parameters for the MAS and the Render 17 Figure 10 Left image map 04 terrain bmp Right image map_04_cost bmp JADE OBJECTIVE Flag s initial location JADE _SPAWN_ ALLIED Allied base s location JADE_SPAWN_ AXIS Axis base s location JADE _COST_ MAP Size and name of the cost s file RENDER_ART_ MAP Size and name of the art file RENDER_COST_MAP Size and name of the cost s art file RENDER HEIGHT MAP Size and name of the height s art file The contents of such file is the following JADE JADE_OBJECTIVE 28 28 JADE_SPAWN_ALLIED 2 28 4 30 JADE_SPAWN_AXIS 20 28 22 30 JADE_COST_MAP 32 32 map_04_cost txt JADE RENDER RENDER_ART_MAP 256 256 map_04_terrain bmp RENDER_COST_MAP 32 32 map_04_
5. Viewer e Game Logic Management 2 3 1 Interface for Graphic Viewer Agent Manager is in charge of functioning as a server for any Graphic Viewer client interested in connecting to the current game At the beginning 2 3 Agent Manager 5 AGENT JADE JGomasAgent as O Em Baa Soldier Medic FieldOps AA X v Internal Agents External Agents Figure 2 JGOMAS Agent Taxonomy The bottom level is the most specialized of JGOMAS Agent Manager executes a thread This thread is simply a server for Graphic Viewer clients First the server creates a listening socket in a specific port and waits for connection attempts from clients The client creates a socket on its side and attempts to connect with the server The server then accepts the connection and communication can begin For each accepted connection a new thread is executed So we can have several viewers running at the same time perhaps in different machines all connected to the current game Moreover Agent Manager holds the game state troop agents static and dynamic objects and their main attributes position direction veloc ity etc So it sends all this information to each graphic viewer client connected once for frame Thus graphic viewers can render their images continuously keeping the desired framerate Figure 3 shows JGOMAS architecture and how agents JADE platform and graphic viewers are inte
6. base capture the flag and take it to their base in which case allied team win the game On the other hand axis agents defend their flag against the other team and if the flag is captured they must return it to their base There is a limit time for allies to bring the flag to their base If time expires axis team win the game Of course it is necessary an additional module which will display the 3D virtual environment agents objects and scenario 2 2 JGOMAS DESCRIPTION 2 JGOMAS Description This section details the system architecture being developed to solve the problems above described This system JGOMAS is a platform to execute a Multi Agent System in a 3D virtual environment Basically a handful of agents spreaded out over two teams with objectives to carry out and of course integrated in a virtual environment This platform can be used as simulator for validation of coordination comunication and learning algorithms in the field of Multi Agent Systems or Artificial Inteligence in general To get this JGOMAS must allow the user to add his own code modifications mods Furthermore JGOMAS can be used to study a full integration of Multi Agent Systems and Virtual Reality Systems In this way results can be analyzed either quantitative or qualitative Finally JGOMAS must be multiplatform besides to respect standards in the field of Multi Agent Systems for example FIPA 6 2 1 Architecture JGOMAS is composed mai
7. decrease fusion distance Trackball camera manipulator Space Reset the camera to the home position 4 2 Executing Render Engine 15 x In stereo increase fusion distance In stereo decrease fusion distance UFO camera manipulator H Reset the camera to the home position 4 2 2 Viewer Window Once a connection is established this window is created where the 3D virtual environment is rendered under standard OpenGL At any moment the user can select any troop agent in the window by means of the left mouse button and check the main features of this agent live ammo position Moreover the following keyboard shortcuts and hotkeys are available while the JGOMAS Render Engine is running OSG standard shortcuts and hotkeys JGomas Viewer Figure 9 3D Viewer Window 16 5 MAP CREATION 5 Map Creation As it has been stated JGOMAS may use different maps for its execu tion This maps are stored at the folder bin data maps of the distribution In this folder there is one subfolder for each map with the name map_XX where XX is the number of this map This folder contains different files defining the map Next we are going to see the contents of the map_04 to illustrate the configuration of a map e map_04_cost tat This file defines the walls of the map by using to indicate it The contents of this file is the following DR A ak ak ak k 2 ak 2 k 2 k k k k 2 k K k 2K 2
8. grated 2 3 2 Game Logic Management This subject is really a level of abstraction over the JGOMAS MAS Game Logic involves many aspects but all oriented to manage the course of the current game For example When does the match start Which is the map to play Where are agents and what are they seeing at a certain 6 2 JGOMAS DESCRIPTION gt Socket ace L DF JADE AMS Socket Render Engine 3 instances Figure 3 JGOMAS architecture and integration of its subsystems point and so on The control of game logic is centralized just in one place the Manager agent It is the agent in charge of some tasks as e Management of the life cycle of the current game it is in charge of synchronization of all agents for the beginning of the game and their destruction at the end of the game besides other more specific details of the game control like inform about the match s map the objective etc e Coordination and management of services registration an agent can not register a service if Agent Manager doesn t allow him to More over it can manipulate the service s name to prevent cheating agents from one team subscribing to services of the other team This is showed in the execution trace at figure 4 e Holding the game state of the current game Each agent calculates its new position and action to do Then they send all that information to Ag
9. JGOMAS user manual GTLIA DSIC UPV 1 Introduction This document presents social simulator Multi Agent System MAS based on JADE that has been developed to fulfill different purposes The main one is to serve as an initial point for a feasibility study of the inte gration of MAS and Virtual Reality VR In this way it combines a 3D graphic viewer with a MAS that can be used in a qualitative evaluation of the current performance of the MAS This way have arisen JGOMAS Game Oriented Multi Agent System based on Jade as a test platform to study a full integration between MAS and VR allowing also to be used as a validation toolkit for MAS systems As the option for the environment to simulate in the developed MAS it has been elected a capture the flag CTF kind of game 1 1 Capture the Flag In this kind of games two teams red and blue allies and axis must compete to capture the opponent s flag This game modality has become an standard included in almost all multiplayer games appeared since Quake 1 It is very easy and intuitive to apply Multi Agent Systems to this type of games because each soldier may be seen as an agent Moreover agents in a team must cooperate among them to get the team s objective In this way they compete with the other team So a CTF game is proposed as the kind of social interaction to simulate where the agents group in two teams allies and axis On one hand allies agents must go to axis
10. aluation because there is a graphical component which allows user to see the game s evolution For example user can check if an agent moves correctly with his new path generation algorithm or if the strategic distribution of agents in the map is as he designed On the other hand quantitative evaluation refers to statistics generated at the end of the match Thus user can check agents efficiency For example the number of medic packs delivered versus which ones were picked up by team mates or by enemies This allows user to have a numerical result to compare it against other matches played 4 Launching JGOMAS User can launch JGOMAS all agents from JADE GUI one by one This can be hard work and due to Agent Manager needs all agents be connected to begin the current game some scripts are given In this way although user executes Render Engine it will not display agents if the current game has not begun The JGOMAS package is available for downloading from lt http www dsic upv es users ia sma tools jgomas gt includes the platform Render Engine maps documentation and a sam ple ready to use Figure 8 shows an execution example of this package where JADE GUI text console and some instances of the Render Engine 12 can be seen 4 LAUNCHING JGOMAS F RMA pandemonium 1099 JADE JADE Remote Agent Management GUI File Actions Tools Remote Platforms Help elegett a a B 9 AgentPlatforms m pandemonium
11. ant part of JGOMAS system However it is not essential because another graphic engine both commercial and open source could be used to get better image rendering To get this it has just to be added the communication layer connection to Agent Manager communication protocol etc to the new graphic engine Normally these engines are ready to handle a scene graph meshes geometry textures and so on So we can take advantage of these engines avoiding unnecessary effort This allows JGOMAS to be independent of any graphic subject that is visual results This way user could apply other concepts of Virtual 8 3 USING JGOMAS Reality Systems for example JGOMAS could be viewed stereoscopically if graphic engine supports it The current used Render Engine is written in C using the Open SceneGraph OSG toolkit 3 The reason is that graphic applications and specially Virtual Reality Systems have a high computational cost More over OSG uses OpenGL standard This ensures compatibility amongst graphic card manufacturers On the other hand due to the purpose of having JGOMAS as a multi platform system Render Engine must also be multi platform It was one of the reasons to use for its development OSG because OpenSceneGraph is an OpenSource cross platform graphics toolkit for the development of high performance graphics applications Figure 5 shows the structure of the Render Engine s architecture Render Engine Hardwa
12. cost bmp RENDER_HEIGHT_MAP 32 32 map_04_heightmap bmp RENDER 18 REFERENCES References 1 id Software Checked on January al 2006 2 aia http www idsoftware com Neider J Davis T Woo M OpenGL Programming Guide Addi son W 3 Ed 1999 The Industry s Foundation for High Performance Graphics Checked on January 31 2006 http www opengl org OpenSceneGraph Checked on October 25 2006 http www openscenegraph org JADE Java Agent DEvelopment Framework Checked on January 31 2006 http jade tilab com JAVA Technology Checked on January 31 2006 http java sun com The Foundation for Intelligent Physical Agents Checked on January 31 2006 http www fipa org
13. e field Center Click strafe view Right Click click and roll Y axis to zoom e Keyboard 4 LAUNCHING JGOMAS 1 Select Trackball camera manipulator default 2 Select Flight camera manipulator 3 Select Drive camera manipulator 4 Select Terrain camera manipulator 5 Select UFO camera manipulator Escape Quit the application O Save screenshot to saved_image jpg Z Stop the recording of a camera path save it to saved_ animation path and reset the camera to the beginning of the animation b Toggle backface culling f Toggle full screen rendering h Show help 1 Toggle lightning o Write scene graph to saved_model osg s Toggle instrumentation t Toggle texturing v Toggle block and vsync w Cycle through polygon fill modes fill wireframe dots z Start recording camera path Drive camera manipulator x Down Look downwards Space Reset the camera to the home position x Up Look upwards x a Right Mouse Button Center Mouse Button Speed q Mouse Y Control speed Flight camera manipulator Space Reset the camera to the home position a No yaw when banked q Automatically yaw when banked Terrain camera manipulator Space Reset the camera to the home position In stereo increase fusion distance x En stereo
14. ent Manager So it controls all information regarding the cur rent game state agents and their main attributes position direction velocity etc e Attention of some agent s requests regarding interactions with the environment Manager listen to requests process them and returns 2 4 Render Engine 7 the results to agents requesting information regarding actions such as look or shot e Statistics about agents efficiency the Agent Manager is also in charge of calculating a report about the development of the current game The purpose of this report is to have a quantitative measure to com plement the qualitative data offered by the Graphic Viewer setup AddServiceType Medic e setup Medic a Manager setup AddServiceType Ambulance e 1 setup AddService String Service ServiceList Add Service m gt setup i RegisterDF RegisterDF Iterator it m_ServiceListiterator while it hasNext dfd addServices sd MyMedic Troop DFService register this dfd JGomasAgent Figure 4 Execution trace of a service registration by a MyMedic agent 2 4 Render Engine Render Engine is the graphic viewer application developed to display the 3D virtual environment in JGOMAS This virtual environment includes agents objects and scenario This application is an import
15. h to the agents ammo packs used to give ammunition to the agents and the objective pack that is the flag to capture They are created and destroyed dynamically during the current game with the exception of objective pack there is only one flag and it exists during all the game and can not be destroyed External agents they are really the players of the current game They have a set of basic predefined behaviors However user can modify those behaviors or even add new ones BasicTroop user agents where each one is performing a role Each role has different features services and behaviors Furthermore an agent can play a unique role during the current game There are defined three roles but user can define new ones each one providing a unique service So troop agents are specialized in e Soldier provides a CallForBackup service agent goes to help teammates e Medic provides a CallForMedic service agent goes to give medic packs e FieldOps provides a CallForAmmo service agent goes to give ammo packs Figure 2 shows the JGOMAS taxonomy tree where the bottom level is the most specialized Having in mind that the number of agents is limited user s election of roles is a decisive factor to win the game 2 3 Agent Manager This is an special agent in the JGOMAS MAS subsystem In fact there is only one instance of it running during the current game It has to do two very different tasks e Interface for Graphic
16. nly of two subsystems On one hand there isa Multi Agent System with two different kind of agents running on One of these agents will control the current game logic whilst the others belong to one of the teams and they will be playing the entire game Really this subsystem is an upper layer over a existing Multi Agent System platform specifically JADE 4 so it can take advantage of all services that JADE provides Due to the usage of JADE as support layer for JGOMAS agents must be written in JAVA 5 On the other hand it has been developed an ad hoc graphic viewer Render Engine to display a 3D virtual environment According to require ments of graphic applications high computational cost for short periods this Render Engine has been designed as an external module and not as an agent It has been written in C using the graphic library OpenGL 2 Figure 1 shows an overview of JGOMAS architecture where all its components and its relationships can be seen JADE platform as support of JGOMAS MAS which is composed of agents one of them acting as con troller for the rest of agents and as interface for graphic viewer application JGOMAS MAS can be seen as a kernel basic package which provides an interface for Render Engine to establish a connection to the current game 2 2 JGOMAS MAS 3 Visualization 1 A Visualization 2 Player 2 JGOMAS 2 Visualization n JGOMAS MAS MAS Platform
17. nteresting methods to over load are e protected void UpdateTargets It may be used to update priority of all prepared to execute or pending tasks e protected boolean ShouldUpdateTargets When an agent is in the state GOTO TARGET it can go to the state STANDING to recalculate the priority of his pending tasks e protected boolean GetAgentToAim It calculates if there is an enemy at sight e protected void PerformLookAction Action to perform when the agent is looking at according to the objects or agents there are in the Field of View FOV e protected boolean checkMedicAction It decides when the agent receives a Call For Medic request if it accepts the proposal These methods are executed normally in each working cicle of the agent In this way and as it has been mentioned before JGOMAS can be used as a testbed for proofs and validation of AI algorithms 3 3 User evaluation 11 Default m ShouldUpdateTargets GeneratePath GetAgentToAim PerformLookAction Default Target Reached UpdateTargets PerformTargetReached Figure 7 Some interesting methods to overload in the working cicle of an agent 3 3 User evaluation Finally another important subject is the game s evaluation User can evaluate what happened during the game both in a quantitative and in a qualitative ways On one hand user can make a qualitative ev
18. re Figure 5 Render Engine s multi layer architecture 3 Using JGOMAS 3 1 Implementation JGOMAS uses JADE as MAS platform to take advantage of all re sources it offers behaviour mechanisms message passing where FIPA ACL is the language to represent messages naming service and yellow page service FIPA interaction protocols etc in compliance with the FIPA specifications JGOMAS agents are written in JAVA to make the most of JADE s features Thus they are FIPA compliant besides platform independent 3 2 Code Modifications 9 3 2 Code Modifications A user may configure JGOMAS MAS to his needs and improve the JGOMAS agents intelligence through an API a set of basic services be haviors and methods JGOMAS kernel offers User can add new source code to develop his new agents This new source code mods will be integrated into the JGOMAS kernel at run time This allows the user e To create new roles specialized roles derived from Troop class or any of its inherited roles i e Soldier Medic and FieldOps Thus JGOMAS taxonomy is extended e To provide new services or to modify existing ones e To add new behaviors to launch a new strategy to get the objective e To add new features and functionality to take complex decisions which will influence in both team and individual emergent behavior To use the JGOMAS API to do this it has to be taken into account the agent working cycle implemented as a Finite S
19. tate Machine FSM e To improve path generation e Etc 3 2 1 Finite State Machine To obtain a customizable architecture that may accept user code agents have to have at one s disposal a generic working mechanism This mech anism have to be able to solve automatically different kind of tasks The chosen mechanism is implemented as a FSM formed by three states figure 6 STANDING is the initial state When an agent comes to this state it extracts the most priority task from the list of pending tasks Next agent goes to state GOTO TARGET GOTO TARGET once an agent knows which one is the current task it keeps in this state till it arrives to the place where it has to carry out the task Then agent goes to state TARGET REACHED TARGET REACHED in this state an agent carries out the current task When it has finished it agent erases it from the list of pending tasks and agent goes to state STANDING ready to get other task 10 3 USING JGOMAS Default Default Target Reached Standing Default Figure 6 FSM used to handle the working cycle of a JGOMAS agent User can create new classes of agents derived from existing ones This way user can either overload some methods predefined in the kernel and add new ones It is very useful to download the file s of example of source code Concretly there is a file which is a basic skeleton for a new class MyMedic derived from CMedic class Some i
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