The distributed simulation of RoboCup Rescue version 1

Integrated disaster simulation systems are important tools to decrease the damage from various disasters. The paper describes the version 1 of the RoboCup Rescue simulation system, which integrates sub-simulators such as a seismic intensity simulator and a fire simulator, and divides, for scalability, the simulated world into a number of local regions, each of which is simulated by one computer in a cluster.