2021 – TDP – CSU_Yunlu – RoboCupRescue – Simulation – Agent

In this paper, we will describe the main methods and strategies of CSU_Yunlu in this year's RoboCup Rescue Agent Simulation. The buildings sre divided into different clusters by using k-means algorithm and optimized k-means++ algorithm. A* routing algorithm is used to enable the agents choose the optimal path. The partition-based communication method improves the efficiency of information sharing. The strategies for three agents (Police Force, Ambulance Team and Fire Brigade) improve the efficiency of the rescue operation.