├── .gitignore ├── .vscode └── settings.json ├── LICENSE ├── README.md ├── main.m ├── matlab ├── functions │ ├── animateFireHistory.m │ ├── animateMPFCSimulation.m │ ├── calc_att.m │ ├── calc_coarsenRatio.m │ ├── calc_fire_time_risk.m │ ├── calc_maxResponseTime.m │ ├── calc_obj_v4.m │ ├── calc_prior.m │ ├── calc_t_response.m │ ├── calc_t_trav.m │ ├── calculateMinimumQueueLength.m │ ├── calculateStats.m │ ├── exportFISRuleBase.m │ ├── func_coarsen.m │ ├── func_endCondition.m │ ├── func_taskAssignment.m │ ├── generateBrownNoiseMatrix.m │ ├── generateMatrixFromPDFs.m │ ├── generateVictimsMap.m │ ├── get_local_map.m │ ├── initSingleFIS.m │ ├── initSingleFIStype2.m │ ├── initSupervisoryController.m │ ├── mpc_prediction.m │ ├── plotFISLinearOutputMFs.m │ ├── plotFISParallelCoordinates.m │ ├── plotFISTriangularMFs.m │ ├── plotFireCatchTimes.m │ ├── plotFisMembershipFunctions.m │ ├── plotGeographical.m │ ├── plotScatterTrends.m │ ├── plotScatterTrendsNormalised.m │ ├── plotSimulationEnvironmentParams.m │ ├── plotStats.m │ ├── randomiseAgentTaskQueue.m │ ├── report_progress.m │ ├── saveSimulationResults.m │ ├── set_local_map.m │ └── updateModel.m ├── initialisation │ ├── agent │ │ ├── i_a_repeat_2.m │ │ ├── i_a_repeat_2_mpc.m │ │ ├── i_a_repeat_3.m │ │ ├── i_a_repeat_3_mpc.m │ │ ├── i_a_repeat_4.m │ │ └── i_a_repeat_4_mpc.m │ ├── environment │ │ ├── i_env_dynamics_20.m │ │ ├── i_env_dynamics_200_dualCentre.m │ │ ├── i_env_dynamics_40.m │ │ ├── i_env_dynamics_60.m │ │ ├── i_env_dynamics_60_complex.m │ │ ├── i_env_static_20.m │ │ └── i_env_static_40.m │ ├── mpc │ │ ├── i_arch_fis.m │ │ ├── i_arch_mpc_exact.m │ │ ├── i_arch_mpc_prediction.m │ │ ├── i_arch_mpc_prediction_decentralised.m │ │ ├── i_arch_mpfc_output_exact.m │ │ ├── i_arch_mpfc_output_exact_decentralised.m │ │ ├── i_arch_mpfc_output_prediction.m │ │ └── i_arch_mpfc_output_prediction_decentralised.m │ ├── pathPlanning │ │ ├── initialise_fis_mirko_4.m │ │ ├── initialise_fis_mirko_4_type2.m │ │ ├── initialise_fis_t_response_priority.m │ │ └── initialise_fis_t_response_priority_r_nextagent.m │ └── simulation │ │ ├── i_sim_comms_disabled.m │ │ ├── i_sim_comms_disabled_victim_model.m │ │ ├── i_sim_comms_disabled_victim_model_10000_local_map_r5.m │ │ ├── i_sim_comms_disabled_victim_model_20000.m │ │ ├── i_sim_comms_disabled_victim_model_20000_r_10.m │ │ ├── i_sim_comms_disabled_victim_model_20000_r_15.m │ │ ├── i_sim_comms_disabled_victim_model_20000_r_5.m │ │ ├── i_sim_comms_disabled_victim_model_5000.m │ │ ├── i_sim_comms_disabled_victim_model_5000_local_map_r3.m │ │ ├── i_sim_comms_disabled_victim_model_5000_local_map_r5.m │ │ ├── i_sim_comms_disabled_victim_model_5000_local_map_r7.m │ │ ├── i_sim_comms_disabled_victim_model_mpc_15_pred_30.m │ │ ├── i_sim_comms_disabled_victim_model_mpc_2_pred_17.m │ │ ├── i_sim_comms_disabled_victim_model_mpc_30_pred_30.m │ │ ├── i_sim_comms_disabled_victim_model_mpc_30_pred_60.m │ │ ├── i_sim_comms_disabled_victim_model_mpc_30_pred_75.m │ │ ├── i_sim_comms_disabled_victim_model_mpc_45_pred_60.m │ │ ├── i_sim_comms_disabled_victim_model_mpc_5_pred_20.m │ │ └── i_sim_comms_disabled_victim_model_mpc_60_pred_75.m └── models │ ├── model_agent.m │ ├── model_environment.m │ ├── model_fis.m │ ├── model_fis_global.m │ ├── model_fis_local.m │ └── model_mpc.m └── simulations ├── 2024-10-24_22-04-10__animation_example_case └── simulationData.mat ├── 4_2_1_two_agent_small_static_v2 ├── env_setup.fig ├── env_setup.svg ├── obj.fig ├── obj.png ├── obj.svg ├── simulationData.mat ├── t_opt.fig ├── t_opt.png └── t_opt.svg ├── 4_2_2_two_agent_small_dynamic_v2 ├── obj.fig ├── obj.png ├── obj.svg ├── simulationData.mat ├── t_opt.fig ├── t_opt.png └── t_opt.svg ├── 4_2_3_four_agent_small_dynamic_v2 ├── obj.fig ├── obj.png ├── obj.svg ├── simulationData.mat ├── t_opt.fig ├── t_opt.png └── t_opt.svg ├── 4_2_4_centralised_vs_decentralised ├── 2a │ ├── obj.fig │ ├── obj.png │ ├── obj.svg │ ├── simulationData.mat │ ├── t_opt.fig │ ├── t_opt.png │ └── t_opt.svg └── 4a │ ├── obj.fig │ ├── obj.png │ ├── obj.svg │ ├── simulationData.mat │ ├── t_opt.fig │ ├── t_opt.png │ └── t_opt.svg ├── 4_2_5_two_agent_complex_dynamic_env_params_v2 ├── m_f.fig ├── m_f.svg ├── obj.fig ├── obj.png ├── obj.svg ├── params_complex_env.fig ├── params_complex_env.svg ├── simulationData.mat ├── t_opt.fig ├── t_opt.png └── t_opt.svg ├── 4_3_1_sens_n_a_3_centralised_mpc ├── MeanObjectiveValue.fig ├── MeanObjectiveValue.png ├── MeanObjectiveValue.svg ├── MeanOptimisationTime.fig ├── MeanOptimisationTime.png ├── MeanOptimisationTime.svg └── simulationData.mat ├── 4_3_1_sens_n_a_decentralised_mpc ├── simulationData.mat ├── x_M___mathrm_search____mathrm_victim____.fig ├── x_M___mathrm_search____mathrm_victim____.png ├── x_M___mathrm_search____mathrm_victim____.svg ├── x_k_81_.fig ├── x_k_81_.png └── x_k_81_.svg ├── 4_3_2_sensitivity_n_env_20 ├── Figure_1.fig ├── Figure_1.png ├── Figure_1.svg └── simulationData.mat ├── 4_3_2_sensitivity_n_env_40 ├── MeanObjectiveValue.fig ├── MeanObjectiveValue.png ├── MeanObjectiveValue.svg ├── MeanOptimisationTime.fig ├── MeanOptimisationTime.png ├── MeanOptimisationTime.svg ├── obj_hist_2_agents_5000_n_e_40_architecture_comparison.png ├── simulationData.mat └── t_opt_2_agents_5000_n_e_40_architecture_comparison.png ├── 4_3_2_sensitivity_n_env_60 ├── MeanObjectiveValue.fig ├── MeanObjectiveValue.png ├── MeanObjectiveValue.svg ├── MeanOptimisationTime.fig ├── MeanOptimisationTime.png ├── MeanOptimisationTime.svg └── simulationData.mat ├── 4_3_3_sensitivity_k_MPC_15 ├── Figure_1.fig ├── Figure_1.png ├── Figure_1.svg └── simulationData.mat ├── 4_3_3_sensitivity_k_MPC_2 ├── Figure_1.fig ├── Figure_1.png ├── Figure_1.svg └── simulationData.mat ├── 4_3_3_sensitivity_k_MPC_30_45_60 ├── MeanObjectiveValue.fig ├── MeanObjectiveValue.png ├── MeanObjectiveValue.svg ├── MeanOptimisationTime.fig ├── MeanOptimisationTime.png ├── MeanOptimisationTime.svg ├── obj_t_mpc.fig ├── obj_t_mpc.svg ├── obj_t_mpc_v2.png ├── simulationData.mat ├── t_opt_t_mpc.fig ├── t_opt_t_mpc.svg └── t_opt_t_mpc_v2.png ├── 4_3_3_sensitivity_k_MPC_5 ├── Figure_1.fig ├── Figure_1.png ├── Figure_1.svg └── simulationData.mat ├── 4_3_4_sensitivity_k_pred_30 ├── Figure_3.fig ├── Figure_3.png ├── Figure_3.svg ├── Figure_4.fig ├── Figure_4.png ├── Figure_4.svg ├── simulationData.mat ├── x_M___mathrm_search____mathrm_victim____.fig ├── x_M___mathrm_search____mathrm_victim____.png ├── x_M___mathrm_search____mathrm_victim____.svg ├── x_k_81_.fig ├── x_k_81_.png └── x_k_81_.svg ├── 4_3_4_sensitivity_k_pred_30_60_75 ├── MeanObjectiveValue.fig ├── MeanObjectiveValue.png ├── MeanObjectiveValue.svg ├── MeanOptimisationTime.fig ├── MeanOptimisationTime.png ├── MeanOptimisationTime.svg ├── obj_t_pred.fig ├── obj_t_pred.jpg ├── obj_t_pred.svg ├── obj_t_pred_v2.png ├── simulationData.mat ├── t_opt_t_pred.fig ├── t_opt_t_pred.jpg ├── t_opt_t_pred.svg └── t_opt_t_pred_v2.png ├── 4_3_4_sensitivity_k_pred_45 ├── Figure_1.fig ├── Figure_1.png ├── Figure_1.svg └── simulationData.mat ├── 4_3_4_sensitivity_k_pred_60 ├── Figure_3.fig ├── Figure_3.png ├── Figure_3.svg ├── Figure_4.fig ├── Figure_4.png ├── Figure_4.svg ├── simulationData.mat ├── x_M___mathrm_search____mathrm_victim____.fig ├── x_M___mathrm_search____mathrm_victim____.png ├── x_M___mathrm_search____mathrm_victim____.svg ├── x_k_81_.fig ├── x_k_81_.png └── x_k_81_.svg ├── 4_3_sensitivity_analysis_plots ├── n_a_obj.fig ├── n_a_obj.svg ├── n_a_t_opt.fig ├── n_a_t_opt.svg ├── n_env_obj.fig ├── n_env_obj.svg ├── n_env_t_opt.fig ├── n_env_t_opt.svg ├── t_mpc_obj.fig ├── t_mpc_obj.svg ├── t_mpc_t_opt.fig ├── t_mpc_t_opt.svg ├── t_pred_obj.fig ├── t_pred_obj.svg ├── t_pred_t_opt.fig └── t_pred_t_opt.svg ├── 4_4_1_Prediction_Modes ├── dk_mpc_30 │ ├── obj.fig │ ├── obj.png │ ├── obj.svg │ ├── simulationData.mat │ ├── t_opt.fig │ ├── t_opt.png │ └── t_opt.svg ├── dk_mpc_60 │ ├── obj.fig │ ├── obj.png │ ├── obj.svg │ ├── simulationData.mat │ ├── t_opt.fig │ ├── t_opt.png │ └── t_opt.svg ├── predMode_obj.fig ├── predMode_obj.svg ├── predMode_obj_normalised.fig ├── predMode_obj_normalised.svg ├── predMode_t_opt.fig └── predMode_t_opt.svg ├── 4_4_2_type1_v_type2_fis ├── obj.fig ├── obj.png ├── obj.svg └── simulationData.mat ├── 4_4_2_type1_v_type2_mpfc ├── Environmental and Search Parameters with Items.fig ├── Environmental and Search Parameters with Items.png ├── Environmental and Search Parameters with Items.svg ├── Fire Map Evolution.fig ├── Fire Map Evolution.png ├── Fire Map Evolution.svg ├── obj.fig ├── obj.png ├── obj.svg ├── simulationData.mat ├── t_opt.fig ├── t_opt.png └── t_opt.svg ├── 4_4_3_local_prediction_maps_large_dynamic_disaster_environment ├── env_states.jpg ├── obj.fig ├── obj.png ├── obj.svg ├── simulationData.mat ├── t_opt.fig ├── t_opt.png └── t_opt.svg ├── 4_4_3_local_prediction_maps_small_static_disaster_environment ├── obj.fig ├── obj.png ├── obj.svg ├── simulationData.mat ├── t_opt.fig ├── t_opt.png └── t_opt.svg └── plots_environment_and_agents ├── F_wind.fig ├── F_wind.svg ├── M_downwind.fig ├── M_downwind.svg ├── W_wind.fig ├── W_wind.svg ├── env_states.png ├── example_fire_map_low_wind.png ├── example_fire_map_v_w_20.png ├── fireMapLegend.fig ├── fireMapLegend.svg ├── fire_spread_structure.fig ├── fire_spread_structure.svg ├── fire_spread_wind.fig ├── fire_spread_wind.svg ├── fis_input_mf_init.fig ├── fis_input_mf_init.jpg ├── fis_input_mf_init.svg ├── fis_output_mf_init.fig ├── fis_output_mf_init.jpg ├── fis_output_mf_init.svg ├── fis_output_mf_parallelCoordinates.jpg ├── m_bo_s_double_population_centre.fig ├── m_bo_s_double_population_centre.jpg ├── m_bo_s_double_population_centre.svg ├── m_f_hist_large.png ├── p_ignition.fig ├── p_ignition.svg ├── small_env_fire_progression.fig ├── small_env_fire_progression.png ├── small_env_fire_progression.svg ├── small_env_setup.fig ├── small_env_setup.png ├── small_env_setup.svg ├── small_static_env_setup.png ├── small_static_env_setup.svg ├── 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