[ RCRS ADF Version 2.2.0 (build 20170726T064111Z) ]

[START ] Connect to server (host:10.3.1.51, port:7000)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@12c15310 (PRECOMPUTED)
[INFO  ] Connected - adf.agent.office.OfficeAmbulance@3efd644e (PRECOMPUTED)
[FINISH] Connect AmbulanceCentre (success:1)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-1" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-2" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@3efe024c (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-3" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-4" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@5777e5f2 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-6" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-5" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@31103d4e (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-7" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-8" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@77ff531 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-10" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-9" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@384a6269 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-12" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-11" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@404d15da (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-13" Exception in thread "pool-1-thread-14" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@58e1ec67 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-16" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-15" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@157cf6da (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-18" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-17" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@43752c41 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-20" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-19" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@3f2d177f (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-22" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-21" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@79e84f4b (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-23" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-24" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@7417bcad (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-26" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-25" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@49cafca5 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-27" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-28" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@51fa911b (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-29" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-30" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@2d526557 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 29 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
	at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 22 more
Exception in thread "pool-1-thread-32" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-31" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@1f46f346 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-33" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-34" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@107e4783 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-35" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-36" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@6114d1a (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-38" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-37" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@750de04a (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-39" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-40" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@5ebb90e5 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-42" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-41" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@3f7e4bc (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-43" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-44" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@1d150595 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-46" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-45" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@2b90af55 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-47" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-48" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@22245eb4 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-50" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-49" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@1d8cec18 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-52" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-51" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@3e57eb1e (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-54" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-53" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@187eb148 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-56" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-55" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@379d5133 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-57" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-58" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] Connected - adf.agent.platoon.PlatoonAmbulance@1690b555 (PRECOMPUTED)
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.algorithm.RoboAKUTKMeans.<init>(RoboAKUTKMeans.java:108)
	at sun.reflect.GeneratedConstructorAccessor7.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:77)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 27 more
java.rmi.ConnectException: Connection refused to host: 127.0.0.1; nested exception is: 
	java.net.ConnectException: Connection refused (Connection refused)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:619)
	at sun.rmi.transport.tcp.TCPChannel.createConnection(TCPChannel.java:216)
	at sun.rmi.transport.tcp.TCPChannel.newConnection(TCPChannel.java:202)
	at sun.rmi.server.UnicastRef.newCall(UnicastRef.java:338)
	at sun.rmi.registry.RegistryImpl_Stub.lookup(RegistryImpl_Stub.java:112)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:41)
	at com.mrl.debugger.remote.VDClient.init(VDClient.java:57)
	at RAK.module.complex.RoboAKUTHumanDetector.<init>(RoboAKUTHumanDetector.java:87)
	at sun.reflect.GeneratedConstructorAccessor6.newInstance(Unknown Source)
	at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
	at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:93)
	at adf.agent.module.ModuleManager.getModule(ModuleManager.java:72)
	at adf.sample.tactics.SampleTacticsAmbulanceTeam.initialize(SampleTacticsAmbulanceTeam.java:80)
	at adf.agent.platoon.Platoon.postConnect(Platoon.java:31)
	at adf.agent.platoon.PlatoonAmbulance.postConnect(PlatoonAmbulance.java:26)
	at rescuecore2.components.AbstractComponent.postConnect(AbstractComponent.java:76)
	at rescuecore2.components.AbstractAgent.postConnect(AbstractAgent.java:43)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.handleConnectOK(AbstractAgent.java:148)
	at rescuecore2.components.AbstractAgent$AgentConnectionListener.messageReceived(AbstractAgent.java:138)
	at rescuecore2.connection.AbstractConnection$MessageBroadcastThread.work(AbstractConnection.java:283)
	at rescuecore2.misc.WorkerThread.run(WorkerThread.java:48)
Caused by: java.net.ConnectException: Connection refused (Connection refused)
	at java.net.PlainSocketImpl.socketConnect(Native Method)
	at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
	at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
	at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
	at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
	at java.net.Socket.connect(Socket.java:589)
	at java.net.Socket.connect(Socket.java:538)
	at java.net.Socket.<init>(Socket.java:434)
	at java.net.Socket.<init>(Socket.java:211)
	at sun.rmi.transport.proxy.RMIDirectSocketFactory.createSocket(RMIDirectSocketFactory.java:40)
	at sun.rmi.transport.proxy.RMIMasterSocketFactory.createSocket(RMIMasterSocketFactory.java:148)
	at sun.rmi.transport.tcp.TCPEndpoint.newSocket(TCPEndpoint.java:613)
	... 21 more
Exception in thread "pool-1-thread-60" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-59" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[FINISH] Connect AmbulanceTeam (success:30)
[FINISH] Done connecting to server (31 agents)
[INFO  ] [392061608] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-61" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-63" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [392061608] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [392061608] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [392061608] [1] [humanDetector] loadTargets.size:0
[INFO  ] [392061608] [1] [humanDetector] targetFromCluster:null
[INFO  ] [392061608] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [392061608] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [392061608] [1] [humanDetector] loadTargets.size:0
[INFO  ] [392061608] [1] [humanDetector] agent:392061608 is at the same position
[INFO  ] [392061608] [1] [humanDetector] targetFromWorld:null
[INFO  ] [1805246408] [1] [humanDetector] closest refuge:15322
Exception in thread "pool-1-thread-64" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-65" java.lang.RuntimeException: VDClinet is not initialized yet.[
INFO  ] [745174185] [1] [humanDetector] closest refuge:15322
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-66" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1805246408] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1805246408] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1805246408] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1805246408] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1805246408] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1805246408] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1805246408] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1805246408] [1] [humanDetector] agent:1805246408 is at the same position
[INFO  ] [1805246408] [1] [humanDetector] agent:1118995928 is at the same position
[INFO  ] [1805246408] [1] [humanDetector] targetFromWorld:null
Exception in thread "pool-1-thread-67" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [745174185] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [745174185] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [745174185] [1] [humanDetector] loadTargets.size:0
[INFO  ] [745174185] [1] [humanDetector] targetFromCluster:null
[INFO  ] [745174185] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [745174185] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [745174185] [1] [humanDetector] loadTargets.size:0
[INFO  ] [745174185] [1] [humanDetector] agent:745174185 is at the same position
[INFO  ] [745174185] [1] [humanDetector] targetFromWorld:null
[INFO  ] [1307423767] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-68" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1828946623] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-69" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-70" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1307423767] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1307423767] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1307423767] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1307423767] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1307423767] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1307423767] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1307423767] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1307423767] [1] [humanDetector] agent:1307423767 is at the same position
[INFO  ] [1307423767] [1] [humanDetector] targetFromWorld:null
Exception in thread "pool-1-thread-71" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1828946623] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1828946623] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1828946623] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1828946623] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1828946623] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1828946623] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1828946623] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1828946623] [1] [humanDetector] agent:1828946623 is at the same position
[INFO  ] [1828946623] [1] [humanDetector] targetFromWorld:null
[INFO  ] [765769055] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-72" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-73" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [765769055] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [765769055] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [765769055] [1] [humanDetector] loadTargets.size:0
[INFO  ] [765769055] [1] [humanDetector] targetFromCluster:null
[INFO  ] [765769055] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [765769055] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [765769055] [1] [humanDetector] loadTargets.size:0
[INFO  ] [765769055] [1] [humanDetector] agent:765769055 is at the same position
[INFO  ] [765769055] [1] [humanDetector] targetFromWorld:null
[INFO  ] [249196731] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-74" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-75" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [249196731] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [249196731] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [249196731] [1] [humanDetector] loadTargets.size:0
[INFO  ] [249196731] [1] [humanDetector] targetFromCluster:null
[INFO  ] [249196731] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [249196731] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [249196731] [1] [humanDetector] loadTargets.size:0
[INFO  ] [249196731] [1] [humanDetector] agent:249196731 is at the same position
[INFO  ] [249196731] [1] [humanDetector] targetFromWorld:null
[INFO  ] [224607000] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-76" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-77" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [224607000] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [224607000] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [224607000] [1] [humanDetector] loadTargets.size:0
[INFO  ] [224607000] [1] [humanDetector] targetFromCluster:null
[INFO  ] [224607000] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [224607000] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [224607000] [1] [humanDetector] loadTargets.size:0
[INFO  ] [224607000] [1] [humanDetector] agent:224607000 is at the same position
[INFO  ] [224607000] [1] [humanDetector] targetFromWorld:null
[INFO  ] [1911644949] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-78" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-79" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [609137782] [1] [humanDetector] closest refuge:24233
[INFO  ] [1911644949] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1911644949] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1911644949] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1911644949] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1911644949] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1911644949] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1911644949] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1911644949] [1] [humanDetector] agent:1911644949 is at the same position
[INFO  ] [1911644949] [1] [humanDetector] targetFromWorld:null
Exception in thread "pool-1-thread-80" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-81" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [609137782] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [609137782] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [609137782] [1] [humanDetector] loadTargets.size:0
[INFO  ] [609137782] [1] [humanDetector] targetFromCluster:null
[INFO  ] [609137782] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [609137782] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [609137782] [1] [humanDetector] loadTargets.size:0
[INFO  ] [609137782] [1] [humanDetector] agent:609137782 is at the same position
[INFO  ] [609137782] [1] [humanDetector] targetFromWorld:null
[INFO  ] [1118995928] [1] [humanDetector] closest refuge:15322
Exception in thread "pool-1-thread-82" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-83" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1118995928] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1118995928] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1118995928] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1118995928] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1118995928] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1118995928] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1118995928] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1118995928] [1] [humanDetector] agent:1805246408 is at the same position
[INFO  ] [1118995928] [1] [humanDetector] agent:1118995928 is at the same position
[INFO  ] [1118995928] [1] [humanDetector] targetFromWorld:null
[INFO  ] [597600933] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-84" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-85" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [597600933] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [597600933] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [597600933] [1] [humanDetector] loadTargets.size:0
[INFO  ] [597600933] [1] [humanDetector] targetFromCluster:null
[INFO  ] [597600933] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [597600933] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [597600933] [1] [humanDetector] loadTargets.size:0
[INFO  ] [597600933] [1] [humanDetector] agent:597600933 is at the same position
[INFO  ] [597600933] [1] [humanDetector] targetFromWorld:null
[INFO  ] [1903487608] [1] [humanDetector] closest refuge:15322
Exception in thread "pool-1-thread-86" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-87" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1903487608] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1903487608] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1903487608] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1903487608] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1903487608] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1903487608] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1903487608] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1903487608] [1] [humanDetector] agent:1903487608 is at the same position
[INFO  ] [1903487608] [1] [humanDetector] agent:351610576 is at the same position
[INFO  ] [1903487608] [1] [humanDetector] targetFromWorld:null
[INFO  ] [58876180] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-88" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-89" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [58876180] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [58876180] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [58876180] [1] [humanDetector] loadTargets.size:0
[INFO  ] [58876180] [1] [humanDetector] targetFromCluster:null
[INFO  ] [58876180] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [58876180] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [58876180] [1] [humanDetector] loadTargets.size:0
[INFO  ] [58876180] [1] [humanDetector] agent:58876180 is at the same position
[INFO  ] [58876180] [1] [humanDetector] targetFromWorld:null
[INFO  ] [351610576] [1] [humanDetector] closest refuge:15322
Exception in thread "pool-1-thread-90" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1539575711] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-91" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-92" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [351610576] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [351610576] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [351610576] [1] [humanDetector] loadTargets.size:0
[INFO  ] [351610576] [1] [humanDetector] targetFromCluster:null
[INFO  ] [351610576] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [351610576] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [351610576] [1] [humanDetector] loadTargets.size:0
[INFO  ] [351610576] [1] [humanDetector] agent:1903487608 is at the same position
[INFO  ] [351610576] [1] [humanDetector] agent:351610576 is at the same position
[INFO  ] [351610576] [1] [humanDetector] targetFromWorld:null
Exception in thread "pool-1-thread-93" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1127163471] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-94" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1539575711] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1539575711] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1539575711] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1539575711] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1539575711] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1539575711] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1539575711] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1539575711] [1] [humanDetector] agent:1539575711 is at the same position
[INFO  ] [1539575711] [1] [humanDetector] targetFromWorld:null
Exception in thread "pool-1-thread-95" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1127163471] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1127163471] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1127163471] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1127163471] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1127163471] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1127163471] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1127163471] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1127163471] [1] [humanDetector] agent:1127163471 is at the same position
[INFO  ] [1127163471] [1] [humanDetector] targetFromWorld:null
[INFO  ] [1375458574] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-96" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-97" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1375458574] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1375458574] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1375458574] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1375458574] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1375458574] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1375458574] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1375458574] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1375458574] [1] [humanDetector] agent:1375458574 is at the same position
[INFO  ] [1375458574] [1] [humanDetector] targetFromWorld:null
[INFO  ] [41998991] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-98" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-99" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [41998991] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [41998991] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [41998991] [1] [humanDetector] loadTargets.size:0
[INFO  ] [41998991] [1] [humanDetector] targetFromCluster:null
[INFO  ] [41998991] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [41998991] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [41998991] [1] [humanDetector] loadTargets.size:0
[INFO  ] [41998991] [1] [humanDetector] agent:41998991 is at the same position
[INFO  ] [41998991] [1] [humanDetector] targetFromWorld:null
[INFO  ] [2130735647] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-100" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-101" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [2130735647] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [2130735647] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [2130735647] [1] [humanDetector] loadTargets.size:0
[INFO  ] [2130735647] [1] [humanDetector] targetFromCluster:null
[INFO  ] [2130735647] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [2130735647] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [2130735647] [1] [humanDetector] loadTargets.size:0
[INFO  ] [2130735647] [1] [humanDetector] agent:2130735647 is at the same position
[INFO  ] [2130735647] [1] [humanDetector] targetFromWorld:null
[INFO  ] [1681747120] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-102" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-103" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1681747120] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1681747120] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1681747120] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1681747120] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1681747120] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1681747120] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1681747120] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1681747120] [1] [humanDetector] agent:1681747120 is at the same position
[INFO  ] [1681747120] [1] [humanDetector] targetFromWorld:null
[INFO  ] [1537573659] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-104" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-105" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1537573659] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1537573659] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1537573659] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1537573659] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1537573659] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1537573659] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1537573659] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1537573659] [1] [humanDetector] agent:1537573659 is at the same position
[INFO  ] [1537573659] [1] [humanDetector] targetFromWorld:null
[INFO  ] [306169390] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-106" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1625736862] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-107" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-62" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [306169390] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [306169390] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [306169390] [1] [humanDetector] loadTargets.size:0
[INFO  ] [306169390] [1] [humanDetector] targetFromCluster:null
[INFO  ] [306169390] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [306169390] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [306169390] [1] [humanDetector] loadTargets.size:0
[INFO  ] [306169390] [1] [humanDetector] agent:306169390 is at the same position
[INFO  ] [306169390] [1] [humanDetector] targetFromWorld:null
Exception in thread "pool-1-thread-109" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1625736862] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1625736862] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1625736862] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1625736862] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1625736862] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1625736862] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1625736862] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1625736862] [1] [humanDetector] agent:1625736862 is at the same position
[INFO  ] [1625736862] [1] [humanDetector] targetFromWorld:null
[INFO  ] [1207214652] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-110" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-111" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1207214652] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1207214652] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1207214652] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1207214652] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1207214652] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1207214652] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1207214652] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1207214652] [1] [humanDetector] agent:1207214652 is at the same position
[INFO  ] [1207214652] [1] [humanDetector] targetFromWorld:null
[INFO  ] [658761447] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-112" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-113" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [658761447] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [658761447] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [658761447] [1] [humanDetector] loadTargets.size:0
[INFO  ] [658761447] [1] [humanDetector] targetFromCluster:null
[INFO  ] [658761447] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [658761447] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [658761447] [1] [humanDetector] loadTargets.size:0
[INFO  ] [658761447] [1] [humanDetector] agent:658761447 is at the same position
[INFO  ] [658761447] [1] [humanDetector] targetFromWorld:null
[INFO  ] [839236544] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-114" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-115" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [839236544] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [839236544] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [839236544] [1] [humanDetector] loadTargets.size:0
[INFO  ] [839236544] [1] [humanDetector] targetFromCluster:null
[INFO  ] [839236544] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [839236544] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [839236544] [1] [humanDetector] loadTargets.size:0
[INFO  ] [839236544] [1] [humanDetector] agent:839236544 is at the same position
[INFO  ] [839236544] [1] [humanDetector] targetFromWorld:null
[INFO  ] [160627440] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-116" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-117" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [160627440] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [160627440] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [160627440] [1] [humanDetector] loadTargets.size:0
[INFO  ] [160627440] [1] [humanDetector] targetFromCluster:null
[INFO  ] [160627440] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [160627440] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [160627440] [1] [humanDetector] loadTargets.size:0
[INFO  ] [160627440] [1] [humanDetector] agent:160627440 is at the same position
[INFO  ] [160627440] [1] [humanDetector] targetFromWorld:null
[INFO  ] [199672555] [1] [humanDetector] closest refuge:15322
Exception in thread "pool-1-thread-118" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-119" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [199672555] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [199672555] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [199672555] [1] [humanDetector] loadTargets.size:0
[INFO  ] [199672555] [1] [humanDetector] targetFromCluster:null
[INFO  ] [199672555] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [199672555] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [199672555] [1] [humanDetector] loadTargets.size:0
[INFO  ] [199672555] [1] [humanDetector] agent:199672555 is at the same position
[INFO  ] [199672555] [1] [humanDetector] targetFromWorld:null
[INFO  ] [1052693628] [1] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-120" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-121" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1052693628] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1052693628] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1052693628] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1052693628] [1] [humanDetector] targetFromCluster:null
[INFO  ] [1052693628] [1] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1052693628] [1] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1052693628] [1] [humanDetector] loadTargets.size:0
[INFO  ] [1052693628] [1] [humanDetector] agent:1052693628 is at the same position
[INFO  ] [1052693628] [1] [humanDetector] targetFromWorld:null
[INFO  ] [392061608] [2] [pathplanning] blockade area:4389598.0 roadArea:4389598.0
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:5433 to:8214
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:5433 to:27383
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:8214 to:5433
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:8214 to:27383
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:27383 to:5433
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:27383 to:8214
[INFO  ] [392061608] [2] [pathplanning] blockade area:5441594.0 roadArea:5441594.0
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:5433 to:7647
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:5433 to:16010
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:7647 to:5433
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:7647 to:16010
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:16010 to:5433
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:16010 to:7647
[INFO  ] [392061608] [2] [pathplanning] blockade area:3482108.0 roadArea:3482108.0
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:32766 to:2265
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:32766 to:14860
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:2265 to:32766
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:2265 to:14860
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:14860 to:32766
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:14860 to:2265
[INFO  ] [392061608] [2] [pathplanning] blockade area:4750424.0 roadArea:4750424.0
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:25012 to:8214
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:8214 to:25012
[INFO  ] [392061608] [2] [pathplanning] blockade area:3214495.5 roadArea:3214495.5
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:1482 to:2679
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:2679 to:1482
[INFO  ] [392061608] [2] [pathplanning] blockade area:4135123.5 roadArea:4135123.5
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:1864 to:2625
[INFO  ] [392061608] [2] [pathplanning] path planning add blocked area from:2625 to:1864
[INFO  ] [392061608] [2] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-122" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [392061608] [2] [humanDetector] add clear action message for target:9150
Exception in thread "pool-1-thread-123" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [392061608] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [392061608] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [392061608] [2] [humanDetector] loadTargets.size:0
[INFO  ] [392061608] [2] [humanDetector] targetFromCluster:null
[INFO  ] [392061608] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [392061608] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [392061608] [2] [humanDetector] loadTargets.size:0
[INFO  ] [392061608] [2] [humanDetector] agent:392061608 is at the same position
[INFO  ] [392061608] [2] [humanDetector] targetFromWorld:null
[INFO  ] [1805246408] [2] [pathplanning] blockade area:3482108.0 roadArea:3482108.0
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:32766 to:2265
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:32766 to:14860
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:2265 to:32766
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:2265 to:14860
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:14860 to:32766
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:14860 to:2265
[INFO  ] [1805246408] [2] [pathplanning] blockade area:4750424.0 roadArea:4750424.0
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:25012 to:8214
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:8214 to:25012
[INFO  ] [1805246408] [2] [pathplanning] blockade area:3214495.5 roadArea:3214495.5
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:1482 to:2679
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:2679 to:1482
[INFO  ] [1805246408] [2] [pathplanning] blockade area:4135123.5 roadArea:4135123.5
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:1864 to:2625
[INFO  ] [1805246408] [2] [pathplanning] path planning add blocked area from:2625 to:1864
[INFO  ] [745174185] [2] [pathplanning] blockade area:2357413.5 roadArea:2357413.5
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:2265 to:32766
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:2265 to:28036
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:32766 to:2265
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:32766 to:28036
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:28036 to:2265
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:28036 to:32766
[INFO  ] [745174185] [2] [pathplanning] blockade area:3482108.0 roadArea:3482108.0
[INFO  ] [745174185] [2] [pathplanning] path planning set already existing one from:32766 to:2265
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:32766 to:14860
[INFO  ] [745174185] [2] [pathplanning] path planning set already existing one from:2265 to:32766
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:2265 to:14860
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:14860 to:32766
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:14860 to:2265
[INFO  ] [745174185] [2] [pathplanning] blockade area:4135123.5 roadArea:4135123.5
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:1864 to:2625
[INFO  ] [745174185] [2] [pathplanning] path planning add blocked area from:2625 to:1864
[INFO  ] [1805246408] [2] [humanDetector] closest refuge:15322
[INFO  ] [1805246408] [2] [humanDetector] add clear action message for target:8079
Exception in thread "pool-1-thread-124" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [745174185] [2] [humanDetector] closest refuge:15322
[INFO  ] [745174185] [2] [humanDetector] add clear action message for target:2265
Exception in thread "pool-1-thread-125" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-126" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-127" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1805246408] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1805246408] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1805246408] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1805246408] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1805246408] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1805246408] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1805246408] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1805246408] [2] [humanDetector] agent:1805246408 is at the same position
[INFO  ] [1805246408] [2] [humanDetector] targetFromWorld:null
[INFO  ] [745174185] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [745174185] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [745174185] [2] [humanDetector] loadTargets.size:0
[INFO  ] [745174185] [2] [humanDetector] targetFromCluster:null
[INFO  ] [745174185] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [745174185] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [745174185] [2] [humanDetector] loadTargets.size:0
[INFO  ] [745174185] [2] [humanDetector] agent:745174185 is at the same position
[INFO  ] [745174185] [2] [humanDetector] targetFromWorld:null
[INFO  ] [1307423767] [2] [pathplanning] blockade area:1854867.5 roadArea:1854867.5
[INFO  ] [1307423767] [2] [pathplanning] path planning add blocked area from:680 to:3174
[INFO  ] [1307423767] [2] [pathplanning] path planning add blocked area from:3174 to:680
[INFO  ] [1307423767] [2] [pathplanning] blockade area:1132166.0 roadArea:1132166.0
[INFO  ] [1307423767] [2] [pathplanning] path planning add blocked area from:3273 to:8961
[INFO  ] [1307423767] [2] [pathplanning] path planning add blocked area from:3273 to:15056
[INFO  ] [1307423767] [2] [pathplanning] path planning add blocked area from:8961 to:3273
[INFO  ] [1307423767] [2] [pathplanning] path planning add blocked area from:8961 to:15056
[INFO  ] [1307423767] [2] [pathplanning] path planning add blocked area from:15056 to:3273
[INFO  ] [1307423767] [2] [pathplanning] path planning add blocked area from:15056 to:8961
[INFO  ] [1307423767] [2] [humanDetector] closest refuge:24233
[INFO  ] [1307423767] [2] [humanDetector] add clear action message for target:8961
Exception in thread "pool-1-thread-128" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)[INFO  ] [1828946623] [2] [pathplanning] blockade area:4389598.0 roadArea:4389598.0
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:5433 to:8214
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:5433 to:27383
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:8214 to:5433
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:8214 to:27383
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:27383 to:5433
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:27383 to:8214
[INFO
  ] [1828946623] [2] [pathplanning] blockade area:5441594.0 roadArea:5441594.0
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:5433 to:7647
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:5433 to:16010
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:7647 to:5433
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:7647 to:16010
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:16010 to:5433
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:16010 to:7647
[INFO  ] [1828946623] [2] [pathplanning] blockade area:4750424.0 roadArea:4750424.0
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:25012 to:8214
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:8214 to:25012
[INFO  ] [1828946623] [2] [pathplanning] blockade area:3214495.5 roadArea:3214495.5
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:1482 to:2679
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:2679 to:1482
[INFO  ] [1828946623] [2] [pathplanning] blockade area:3425974.0 roadArea:3425974.0
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:2994 to:4434
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:2994 to:10697
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:4434 to:2994
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:4434 to:10697
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:10697 to:2994
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:10697 to:4434
[INFO  ] [1828946623] [2] [pathplanning] blockade area:4765113.0 roadArea:4765113.0
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:2994 to:28368
[INFO  ] [1828946623] [2] [pathplanning] path planning add blocked area from:28368 to:2994
[INFO  ] [1828946623] [2] [humanDetector] closest refuge:24233
[INFO  ] [1828946623] [2] [humanDetector] add clear action message for target:8214
Exception in thread "pool-1-thread-129" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-130" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1307423767] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1307423767] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1307423767] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1307423767] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1307423767] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1307423767] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1307423767] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1307423767] [2] [humanDetector] agent:1307423767 is at the same position
[INFO  ] [1307423767] [2] [humanDetector] targetFromWorld:null
Exception in thread "pool-1-thread-131" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1828946623] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1828946623] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1828946623] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1828946623] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1828946623] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1828946623] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1828946623] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1828946623] [2] [humanDetector] agent:1828946623 is at the same position
[INFO  ] [1828946623] [2] [humanDetector] targetFromWorld:null
[INFO  ] [765769055] [2] [pathplanning] blockade area:3143949.0 roadArea:3143949.0
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:24895 to:8304
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:24895 to:6315
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:8304 to:24895
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:8304 to:6315
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:6315 to:24895
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:6315 to:8304
[INFO  ] [765769055] [2] [pathplanning] blockade area:1132166.0 roadArea:1132166.0
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:3273 to:8961
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:3273 to:15056
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:8961 to:3273
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:8961 to:15056
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:15056 to:3273
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:15056 to:8961
[INFO  ] [765769055] [2] [pathplanning] blockade area:4519546.0 roadArea:4519546.0
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:32965 to:6315
[INFO  ] [765769055] [2] [pathplanning] path planning add blocked area from:6315 to:32965
[INFO  ] [765769055] [2] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-132" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-133" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [765769055] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [765769055] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [765769055] [2] [humanDetector] loadTargets.size:0
[INFO  ] [765769055] [2] [humanDetector] targetFromCluster:null
[INFO  ] [765769055] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [765769055] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [765769055] [2] [humanDetector] loadTargets.size:0
[INFO  ] [765769055] [2] [humanDetector] agent:765769055 is at the same position
[INFO  ] [765769055] [2] [humanDetector] targetFromWorld:null
[INFO  ] [249196731] [2] [pathplanning] blockade area:3143949.0 roadArea:3143949.0
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:24895 to:8304
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:24895 to:6315
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:8304 to:24895
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:8304 to:6315
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:6315 to:24895
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:6315 to:8304
[INFO  ] [249196731] [2] [pathplanning] blockade area:1854867.5 roadArea:1854867.5
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:680 to:3174
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:3174 to:680
[INFO  ] [249196731] [2] [pathplanning] blockade area:1132166.0 roadArea:1132166.0
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:3273 to:8961
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:3273 to:15056
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:8961 to:3273
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:8961 to:15056
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:15056 to:3273
[INFO  ] [249196731] [2] [pathplanning] path planning add blocked area from:15056 to:8961
[INFO  ] [249196731] [2] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-134" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-135" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [249196731] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [249196731] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [249196731] [2] [humanDetector] loadTargets.size:0
[INFO  ] [249196731] [2] [humanDetector] targetFromCluster:null
[INFO  ] [249196731] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [249196731] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [249196731] [2] [humanDetector] loadTargets.size:0
[INFO  ] [249196731] [2] [humanDetector] agent:249196731 is at the same position
[INFO  ] [249196731] [2] [humanDetector] targetFromWorld:null
[INFO  ] [224607000] [2] [pathplanning] blockade area:2540895.5 roadArea:2540895.5
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:8817 to:4866
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:8817 to:5622
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:4866 to:8817
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:4866 to:5622
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:5622 to:8817
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:5622 to:4866
[INFO  ] [224607000] [2] [pathplanning] blockade area:1854867.5 roadArea:1854867.5
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:680 to:3174
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:3174 to:680
[INFO  ] [224607000] [2] [pathplanning] blockade area:1.5326192E7 roadArea:1.5326192E7
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:28660 to:5325
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:28660 to:8817
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:5325 to:28660
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:5325 to:8817
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:8817 to:28660
[INFO  ] [224607000] [2] [pathplanning] path planning add blocked area from:8817 to:5325
[INFO  ] [224607000] [2] [humanDetector] closest refuge:24233
[INFO  ] [224607000] [2] [humanDetector] add clear action message for target:680
Exception in thread "pool-1-thread-136" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-137" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [224607000] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [224607000] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [224607000] [2] [humanDetector] loadTargets.size:0
[INFO  ] [224607000] [2] [humanDetector] targetFromCluster:null
[INFO  ] [224607000] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [224607000] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [224607000] [2] [humanDetector] loadTargets.size:0
[INFO  ] [224607000] [2] [humanDetector] agent:224607000 is at the same position
[INFO  ] [224607000] [2] [humanDetector] targetFromWorld:null
[INFO  ] [1911644949] [2] [pathplanning] blockade area:3143949.0 roadArea:3143949.0
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:24895 to:8304
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:24895 to:6315
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:8304 to:24895
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:8304 to:6315
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:6315 to:24895
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:6315 to:8304
[INFO  ] [1911644949] [2] [pathplanning] blockade area:1854867.5 roadArea:1854867.5
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:680 to:3174
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:3174 to:680
[INFO  ] [1911644949] [2] [pathplanning] blockade area:2680063.0 roadArea:2680063.0
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:7449 to:3588
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:7449 to:24233
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:3588 to:7449
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:3588 to:24233
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:24233 to:7449
[INFO  ] [1911644949] [2] [pathplanning] path planning add blocked area from:24233 to:3588
[INFO  ] [1911644949] [2] [humanDetector] closest refuge:24233
[INFO  ] [609137782] [2] [pathplanning] blockade area:4389598.0 roadArea:4389598.0
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:5433 to:8214
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:5433 to:27383
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:8214 to:5433
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:8214 to:27383
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:27383 to:5433
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:27383 to:8214
[INFO  ] [609137782] [2] [pathplanning] blockade area:3214495.5 roadArea:3214495.5
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:1482 to:2679
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:2679 to:1482
[INFO  ] [609137782] [2] [pathplanning] blockade area:5441594.0 roadArea:5441594.0
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:5433 to:7647
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:5433 to:16010
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:7647 to:5433
[INFO Exception in thread "pool-1-thread-138"  ] [609137782] [2] [pathplanning] path planning add blocked area from:7647 to:16010
[INFO  java.lang.RuntimeException: VDClinet is not initialized yet.] 
[609137782] [2] [pathplanning] path planning add blocked area from:16010 to:5433
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:16010 to:7647
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [609137782] [2] [pathplanning] blockade area:4750424.0 roadArea:4750424.0
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:25012 to:8214
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:8214 to:25012
[INFO  ] [609137782] [2] [pathplanning] blockade area:4765113.0 roadArea:4765113.0
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:2994 to:28368
[INFO  ] [609137782] [2] [pathplanning] path planning add blocked area from:28368 to:2994
[INFO  ] [609137782] [2] [humanDetector] closest refuge:24233
[INFO  ] [609137782] [2] [humanDetector] add clear action message for target:6810
Exception in thread "pool-1-thread-139" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-108" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1911644949] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1911644949] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1911644949] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1911644949] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1911644949] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1911644949] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1911644949] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1911644949] [2] [humanDetector] agent:1911644949 is at the same position
[INFO  ] [1911644949] [2] [humanDetector] targetFromWorld:null
Exception in thread "pool-1-thread-141" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [609137782] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [609137782] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [609137782] [2] [humanDetector] loadTargets.size:0
[INFO  ] [609137782] [2] [humanDetector] targetFromCluster:null
[INFO  ] [609137782] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [609137782] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [609137782] [2] [humanDetector] loadTargets.size:0
[INFO  ] [609137782] [2] [humanDetector] agent:609137782 is at the same position
[INFO  ] [609137782] [2] [humanDetector] targetFromWorld:null
[INFO  ] [1118995928] [2] [pathplanning] blockade area:3482108.0 roadArea:3482108.0
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:32766 to:2265
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:32766 to:14860
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:2265 to:32766
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:2265 to:14860
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:14860 to:32766
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:14860 to:2265
[INFO  ] [1118995928] [2] [pathplanning] blockade area:4135123.5 roadArea:4135123.5
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:1864 to:2625
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:2625 to:1864
[INFO  ] [1118995928] [2] [pathplanning] blockade area:2357413.5 roadArea:2357413.5
[INFO  ] [1118995928] [2] [pathplanning] path planning set already existing one from:2265 to:32766
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:2265 to:28036
[INFO  ] [1118995928] [2] [pathplanning] path planning set already existing one from:32766 to:2265
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:32766 to:28036
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:28036 to:2265
[INFO  ] [1118995928] [2] [pathplanning] path planning add blocked area from:28036 to:32766
[INFO  ] [1118995928] [2] [humanDetector] closest refuge:15322
[INFO  ] [1118995928] [2] [humanDetector] add clear action message for target:1864
Exception in thread "pool-1-thread-142" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-143" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1118995928] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1118995928] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1118995928] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1118995928] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1118995928] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1118995928] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1118995928] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1118995928] [2] [humanDetector] agent:1118995928 is at the same position
[INFO  ] [1118995928] [2] [humanDetector] targetFromWorld:null
[INFO  ] [597600933] [2] [pathplanning] blockade area:2241048.5 roadArea:2241048.5
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:7269 to:15182
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:15182 to:7269
[INFO  ] [597600933] [2] [pathplanning] blockade area:5902474.0 roadArea:5902474.0
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:4803 to:32971
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:4803 to:8151
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32971 to:4803
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32971 to:8151
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:8151 to:4803
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:8151 to:32971
[INFO  ] [597600933] [2] [pathplanning] blockade area:2601063.0 roadArea:2601063.0
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:8979 to:28287
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:28287 to:8979
[INFO  ] [597600933] [2] [pathplanning] blockade area:3143949.0 roadArea:3143949.0
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:24895 to:8304
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:24895 to:6315
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:8304 to:24895
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:8304 to:6315
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:6315 to:24895
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:6315 to:8304
[INFO  ] [597600933] [2] [pathplanning] blockade area:2.1095785E7 roadArea:2.1095785E7
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32967 to:23668
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32967 to:32971
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32967 to:32969
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:23668 to:32967
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:23668 to:32971
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:23668 to:32969
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32971 to:32967
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32971 to:23668
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32971 to:32969
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32969 to:32967
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32969 to:23668
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32969 to:32971
[INFO  ] [597600933] [2] [pathplanning] blockade area:1334941.5 roadArea:1334941.5
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32968 to:29432
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:29432 to:32968
[INFO  ] [597600933] [2] [pathplanning] blockade area:7.5786671E7 roadArea:7.5786671E7
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:35044 to:32968
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:35044 to:35047
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:35044 to:1917
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32968 to:35044
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32968 to:35047
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32968 to:1917
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:35047 to:35044
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:35047 to:32968
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:35047 to:1917
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:1917 to:35044
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:1917 to:32968
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:1917 to:35047
[INFO  ] [597600933] [2] [pathplanning] blockade area:2.5887865E7 roadArea:2.5887865E7
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:1917 to:17837
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:1917 to:2292
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:17837 to:1917
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:17837 to:2292
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:2292 to:1917
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:2292 to:17837
[INFO  ] [597600933] [2] [pathplanning] blockade area:3425974.0 roadArea:3425974.0
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:2994 to:4434
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:2994 to:10697
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:4434 to:2994
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:4434 to:10697
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:10697 to:2994
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:10697 to:4434
[INFO  ] [597600933] [2] [pathplanning] blockade area:4765113.0 roadArea:4765113.0
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:2994 to:28368
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:28368 to:2994
[INFO  ] [597600933] [2] [pathplanning] blockade area:4519546.0 roadArea:4519546.0
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32965 to:6315
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:6315 to:32965
[INFO  ] [597600933] [2] [pathplanning] blockade area:5.728881E7 roadArea:5.728881E7
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32967 to:4434
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32967 to:7269
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:32967 to:6315
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:4434 to:32967
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:4434 to:7269
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:4434 to:6315
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:7269 to:32967
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:7269 to:4434
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:7269 to:6315
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:6315 to:32967
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:6315 to:4434
[INFO  ] [597600933] [2] [pathplanning] path planning add blocked area from:6315 to:7269
[INFO  ] [597600933] [2] [humanDetector] closest refuge:24233
[INFO  ] [597600933] [2] [humanDetector] add clear action message for target:31204
Exception in thread "pool-1-thread-144" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-145" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [597600933] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [597600933] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [597600933] [2] [humanDetector] loadTargets.size:0
[INFO  ] [597600933] [2] [humanDetector] targetFromCluster:null
[INFO  ] [597600933] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [597600933] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [597600933] [2] [humanDetector] loadTargets.size:0
[INFO  ] [597600933] [2] [humanDetector] agent:597600933 is at the same position
[INFO  ] [597600933] [2] [humanDetector] targetFromWorld:null
[INFO  ] [1903487608] [2] [pathplanning] blockade area:2357413.5 roadArea:2357413.5
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:2265 to:32766
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:2265 to:28036
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:32766 to:2265
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:32766 to:28036
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:28036 to:2265
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:28036 to:32766
[INFO  ] [1903487608] [2] [pathplanning] blockade area:3482108.0 roadArea:3482108.0
[INFO  ] [1903487608] [2] [pathplanning] path planning set already existing one from:32766 to:2265
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:32766 to:14860
[INFO  ] [1903487608] [2] [pathplanning] path planning set already existing one from:2265 to:32766
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:2265 to:14860
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:14860 to:32766
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:14860 to:2265
[INFO  ] [1903487608] [2] [pathplanning] blockade area:1360240.5 roadArea:1360240.5
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:32767 to:3021
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:32767 to:22559
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:3021 to:32767
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:3021 to:22559
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:22559 to:32767
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:22559 to:3021
[INFO  ] [1903487608] [2] [pathplanning] blockade area:1168331.0 roadArea:1168331.0
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:5442 to:3813
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:5442 to:16846
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:3813 to:5442
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:3813 to:16846
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:16846 to:5442
[INFO  ] [1903487608] [2] [pathplanning] path planning add blocked area from:16846 to:3813
[INFO  ] [1903487608] [2] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-146" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-147" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1903487608] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1903487608] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1903487608] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1903487608] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1903487608] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1903487608] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1903487608] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1903487608] [2] [humanDetector] agent:1903487608 is at the same position
[INFO  ] [1903487608] [2] [humanDetector] targetFromWorld:null
[INFO  ] [58876180] [2] [pathplanning] blockade area:3143949.0 roadArea:3143949.0
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:24895 to:8304
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:24895 to:6315
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:8304 to:24895
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:8304 to:6315
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:6315 to:24895
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:6315 to:8304
[INFO  ] [58876180] [2] [pathplanning] blockade area:1854867.5 roadArea:1854867.5
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:680 to:3174
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:3174 to:680
[INFO  ] [58876180] [2] [pathplanning] blockade area:4519546.0 roadArea:4519546.0
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:32965 to:6315
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:6315 to:32965
[INFO  ] [58876180] [2] [pathplanning] blockade area:5.728881E7 roadArea:5.728881E7
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:32967 to:4434
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:32967 to:7269
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:32967 to:6315
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:4434 to:32967
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:4434 to:7269
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:4434 to:6315
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:7269 to:32967
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:7269 to:4434
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:7269 to:6315
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:6315 to:32967
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:6315 to:4434
[INFO  ] [58876180] [2] [pathplanning] path planning add blocked area from:6315 to:7269
[INFO  ] [58876180] [2] [humanDetector] closest refuge:24233
[INFO  ] [58876180] [2] [humanDetector] add clear action message for target:4083
Exception in thread "pool-1-thread-148" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-149" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [58876180] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [58876180] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [58876180] [2] [humanDetector] loadTargets.size:0
[INFO  ] [58876180] [2] [humanDetector] targetFromCluster:null
[INFO  ] [58876180] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [58876180] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [58876180] [2] [humanDetector] loadTargets.size:0
[INFO  ] [58876180] [2] [humanDetector] agent:58876180 is at the same position
[INFO  ] [58876180] [2] [humanDetector] targetFromWorld:null
[INFO  ] [351610576] [2] [pathplanning] blockade area:1066439.5 roadArea:1066439.5
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:5442 to:26228
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:26228 to:5442
[INFO  ] [351610576] [2] [pathplanning] blockade area:2357413.5 roadArea:2357413.5
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:2265 to:32766
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:2265 to:28036
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:32766 to:2265
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:32766 to:28036
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:28036 to:2265
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:28036 to:32766
[INFO  ] [351610576] [2] [pathplanning] blockade area:3482108.0 roadArea:3482108.0
[INFO  ] [351610576] [2] [pathplanning] path planning set already existing one from:32766 to:2265
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:32766 to:14860
[INFO  ] [351610576] [2] [pathplanning] path planning set already existing one from:2265 to:32766
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:2265 to:14860
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:14860 to:32766
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:14860 to:2265
[INFO  ] [351610576] [2] [pathplanning] blockade area:1360240.5 roadArea:1360240.5
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:32767 to:3021
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:32767 to:22559
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:3021 to:32767
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:3021 to:22559
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:22559 to:32767
[INFO  ] [351610576] [2] [pathplanning] path planning add blocked area from:22559 to:3021
[INFO  ] [1539575711] [2] [pathplanning] blockade area:1854867.5 roadArea:1854867.5
[INFO  ] [1539575711] [2] [pathplanning] path planning add blocked area from:680 to:3174
[INFO  ] [1539575711] [2] [pathplanning] path planning add blocked area from:3174 to:680
[INFO  ] [1539575711] [2] [pathplanning] blockade area:1132166.0 roadArea:1132166.0
[INFO  ] [1539575711] [2] [pathplanning] path planning add blocked area from:3273 to:8961
[INFO  ] [1539575711] [2] [pathplanning] path planning add blocked area from:3273 to:15056
[INFO  ] [1539575711] [2] [pathplanning] path planning add blocked area from:8961 to:3273
[INFO  ] [1539575711] [2] [pathplanning] path planning add blocked area from:8961 to:15056
[INFO  ] [1539575711] [2] [pathplanning] path planning add blocked area from:15056 to:3273
[INFO  ] [1539575711] [2] [pathplanning] path planning add blocked area from:15056 to:8961
[INFO  ] [351610576] [2] [humanDetector] closest refuge:15322
[INFO  ] [1539575711] [2] [humanDetector] closest refuge:24233
[INFO  ] [1539575711] [2] [humanDetector] add clear action message for target:6522
[INFO  ] [1127163471] [2] [pathplanning] blockade area:3143949.0 roadArea:3143949.0
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:24895 to:8304
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:24895 to:6315
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:8304 to:24895
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:8304 to:6315
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:6315 to:24895
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:6315 to:8304
[INFO  ] [1127163471] [2] [pathplanning] blockade area:4519546.0 roadArea:4519546.0
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:32965 to:6315
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:6315 to:32965
[INFO  ] [1127163471] [2] [pathplanning] blockade area:5.728881E7 roadArea:5.728881E7
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:32967 to:4434
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:32967 to:7269
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:32967 to:6315
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:4434 to:32967
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:4434 to:7269
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:4434 to:6315
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:7269 to:32967
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:7269 to:4434
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:7269 to:6315
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:6315 to:32967
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:6315 to:4434
[INFO  ] [1127163471] [2] [pathplanning] path planning add blocked area from:6315 to:7269
Exception in thread "pool-1-thread-140" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-151" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1539575711] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1539575711] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1539575711] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1539575711] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1539575711] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1539575711] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1539575711] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1539575711] [2] [humanDetector] agent:1539575711 is at the same position
[INFO  ] [1539575711] [2] [humanDetector] targetFromWorld:null
Exception in thread "pool-1-thread-152" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1127163471] [2] [humanDetector] closest refuge:24233
[Exception in thread "pool-1-thread-150" INFO  ] [1127163471] [2] [humanDetector] add clear action message for target:6315
java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-153" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [351610576] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [351610576] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [351610576] [2] [humanDetector] loadTargets.size:0
[INFO  ] [351610576] [2] [humanDetector] targetFromCluster:null
[INFO  ] [351610576] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [351610576] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [351610576] [2] [humanDetector] loadTargets.size:0
[INFO  ] [351610576] [2] [humanDetector] agent:351610576 is at the same position
[INFO  ] [351610576] [2] [humanDetector] targetFromWorld:null
Exception in thread "pool-1-thread-155" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1127163471] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1127163471] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1127163471] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1127163471] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1127163471] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1127163471] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1127163471] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1127163471] [2] [humanDetector] agent:1127163471 is at the same position
[INFO  ] [1127163471] [2] [humanDetector] targetFromWorld:null
[INFO  ] [1375458574] [2] [pathplanning] blockade area:4389598.0 roadArea:4389598.0
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:5433 to:8214
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:5433 to:27383
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:8214 to:5433
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:8214 to:27383
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:27383 to:5433
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:27383 to:8214
[INFO  ] [1375458574] [2] [pathplanning] blockade area:2601063.0 roadArea:2601063.0
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:8979 to:28287
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:28287 to:8979
[INFO  ] [1375458574] [2] [pathplanning] blockade area:5441594.0 roadArea:5441594.0
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:5433 to:7647
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:5433 to:16010
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:7647 to:5433
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:7647 to:16010
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:16010 to:5433
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:16010 to:7647
[INFO  ] [1375458574] [2] [pathplanning] blockade area:3143949.0 roadArea:3143949.0
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:24895 to:8304
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:24895 to:6315
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:8304 to:24895
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:8304 to:6315
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:6315 to:24895
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:6315 to:8304
[INFO  ] [1375458574] [2] [pathplanning] blockade area:3425974.0 roadArea:3425974.0
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:2994 to:4434
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:2994 to:10697
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:4434 to:2994
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:4434 to:10697
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:10697 to:2994
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:10697 to:4434
[INFO  ] [1375458574] [2] [pathplanning] blockade area:2241048.5 roadArea:2241048.5
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:7269 to:15182
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:15182 to:7269
[INFO  ] [1375458574] [2] [pathplanning] blockade area:4765113.0 roadArea:4765113.0
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:2994 to:28368
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:28368 to:2994
[INFO  ] [1375458574] [2] [pathplanning] blockade area:4519546.0 roadArea:4519546.0
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:32965 to:6315
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:6315 to:32965
[INFO  ] [1375458574] [2] [pathplanning] blockade area:5.728881E7 roadArea:5.728881E7
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:32967 to:4434
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:32967 to:7269
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:32967 to:6315
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:4434 to:32967
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:4434 to:7269
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:4434 to:6315
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:7269 to:32967
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:7269 to:4434
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:7269 to:6315
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:6315 to:32967
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:6315 to:4434
[INFO  ] [1375458574] [2] [pathplanning] path planning add blocked area from:6315 to:7269
[INFO  ] [1375458574] [2] [humanDetector] closest refuge:24233
[INFO  ] [1375458574] [2] [humanDetector] add clear action message for target:4434
Exception in thread "pool-1-thread-156" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-157" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1375458574] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1375458574] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1375458574] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1375458574] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1375458574] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1375458574] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1375458574] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1375458574] [2] [humanDetector] agent:1375458574 is at the same position
[INFO  ] [1375458574] [2] [humanDetector] targetFromWorld:null
[INFO  ] [41998991] [2] [pathplanning] blockade area:3143949.0 roadArea:3143949.0
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:24895 to:8304
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:24895 to:6315
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:8304 to:24895
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:8304 to:6315
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:6315 to:24895
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:6315 to:8304
[INFO  ] [41998991] [2] [pathplanning] blockade area:4519546.0 roadArea:4519546.0
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:32965 to:6315
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:6315 to:32965
[INFO  ] [41998991] [2] [pathplanning] blockade area:5.728881E7 roadArea:5.728881E7
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:32967 to:4434
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:32967 to:7269
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:32967 to:6315
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:4434 to:32967
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:4434 to:7269
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:4434 to:6315
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:7269 to:32967
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:7269 to:4434
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:7269 to:6315
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:6315 to:32967
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:6315 to:4434
[INFO  ] [41998991] [2] [pathplanning] path planning add blocked area from:6315 to:7269
[INFO  ] [41998991] [2] [humanDetector] closest refuge:24233
[INFO  ] [41998991] [2] [humanDetector] add clear action message for target:2036
Exception in thread "pool-1-thread-158" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-159" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [41998991] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [41998991] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [41998991] [2] [humanDetector] loadTargets.size:0
[INFO  ] [41998991] [2] [humanDetector] targetFromCluster:null
[INFO  ] [41998991] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [41998991] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [41998991] [2] [humanDetector] loadTargets.size:0
[INFO  ] [41998991] [2] [humanDetector] agent:41998991 is at the same position
[INFO  ] [41998991] [2] [humanDetector] targetFromWorld:null
[INFO  ] [2130735647] [2] [pathplanning] blockade area:4389598.0 roadArea:4389598.0
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:5433 to:8214
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:5433 to:27383
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:8214 to:5433
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:8214 to:27383
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:27383 to:5433
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:27383 to:8214
[INFO  ] [2130735647] [2] [pathplanning] blockade area:2357413.5 roadArea:2357413.5
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:2265 to:32766
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:2265 to:28036
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:32766 to:2265
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:32766 to:28036
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:28036 to:2265
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:28036 to:32766
[INFO  ] [2130735647] [2] [pathplanning] blockade area:3482108.0 roadArea:3482108.0
[INFO  ] [2130735647] [2] [pathplanning] path planning set already existing one from:32766 to:2265
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:32766 to:14860
[INFO  ] [2130735647] [2] [pathplanning] path planning set already existing one from:2265 to:32766
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:2265 to:14860
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:14860 to:32766
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:14860 to:2265
[INFO  ] [2130735647] [2] [pathplanning] blockade area:4750424.0 roadArea:4750424.0
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:25012 to:8214
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:8214 to:25012
[INFO  ] [2130735647] [2] [pathplanning] blockade area:3214495.5 roadArea:3214495.5
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:1482 to:2679
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:2679 to:1482
[INFO  ] [2130735647] [2] [pathplanning] blockade area:4135123.5 roadArea:4135123.5
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:1864 to:2625
[INFO  ] [2130735647] [2] [pathplanning] path planning add blocked area from:2625 to:1864
[INFO  ] [2130735647] [2] [humanDetector] closest refuge:24233
[INFO  ] [2130735647] [2] [humanDetector] add clear action message for target:5910
Exception in thread "pool-1-thread-160" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-161" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [2130735647] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [2130735647] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [2130735647] [2] [humanDetector] loadTargets.size:0
[INFO  ] [2130735647] [2] [humanDetector] targetFromCluster:null
[INFO  ] [2130735647] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [2130735647] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [2130735647] [2] [humanDetector] loadTargets.size:0
[INFO  ] [2130735647] [2] [humanDetector] agent:2130735647 is at the same position
[INFO  ] [2130735647] [2] [humanDetector] targetFromWorld:null
[INFO  ] [1681747120] [2] [pathplanning] blockade area:4389598.0 roadArea:4389598.0
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:5433 to:8214
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:5433 to:27383
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:8214 to:5433
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:8214 to:27383
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:27383 to:5433
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:27383 to:8214
[INFO  ] [1681747120] [2] [pathplanning] blockade area:5441594.0 roadArea:5441594.0
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:5433 to:7647
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:5433 to:16010
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:7647 to:5433
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:7647 to:16010
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:16010 to:5433
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:16010 to:7647
[INFO  ] [1681747120] [2] [pathplanning] blockade area:4750424.0 roadArea:4750424.0
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:25012 to:8214
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:8214 to:25012
[INFO  ] [1681747120] [2] [pathplanning] blockade area:3214495.5 roadArea:3214495.5
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:1482 to:2679
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:2679 to:1482
[INFO  ] [1681747120] [2] [pathplanning] blockade area:3425974.0 roadArea:3425974.0
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:2994 to:4434
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:2994 to:10697
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:4434 to:2994
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:4434 to:10697
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:10697 to:2994
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:10697 to:4434
[INFO  ] [1681747120] [2] [pathplanning] blockade area:4765113.0 roadArea:4765113.0
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:2994 to:28368
[INFO  ] [1681747120] [2] [pathplanning] path planning add blocked area from:28368 to:2994
[INFO  ] [1681747120] [2] [humanDetector] closest refuge:24233
[INFO  ] [1681747120] [2] [humanDetector] add clear action message for target:5433
Exception in thread "pool-1-thread-162" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-163" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1681747120] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1681747120] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1681747120] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1681747120] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1681747120] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1681747120] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1681747120] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1681747120] [2] [humanDetector] agent:1681747120 is at the same position
[INFO  ] [1681747120] [2] [humanDetector] targetFromWorld:null
[INFO  ] [1537573659] [2] [pathplanning] blockade area:1854867.5 roadArea:1854867.5
[INFO  ] [1537573659] [2] [pathplanning] path planning add blocked area from:680 to:3174
[INFO  ] [1537573659] [2] [pathplanning] path planning add blocked area from:3174 to:680
[INFO  ] [1537573659] [2] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-164" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [306169390] [2] [pathplanning] blockade area:4389598.0 roadArea:4389598.0
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:5433 to:8214
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:5433 to:27383
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:8214 to:5433
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:8214 to:27383
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:27383 to:5433
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:27383 to:8214
[INFO  ] [306169390] [2] [pathplanning] blockade area:5441594.0 roadArea:5441594.0
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:5433 to:7647
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:5433 to:16010
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:7647 to:5433
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:7647 to:16010
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:16010 to:5433
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:16010 to:7647
[INFO  ] [306169390] [2] [pathplanning] blockade area:4750424.0 roadArea:4750424.0
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:25012 to:8214
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:8214 to:25012
[INFO  ] [306169390] [2] [pathplanning] blockade area:3214495.5 roadArea:3214495.5
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:1482 to:2679
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:2679 to:1482
[INFO  ] [306169390] [2] [pathplanning] blockade area:4765113.0 roadArea:4765113.0
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:2994 to:28368
[INFO  ] [306169390] [2] [pathplanning] path planning add blocked area from:28368 to:2994
[INFO  ] [1625736862] [2] [pathplanning] blockade area:1854867.5 roadArea:1854867.5
[INFO  ] [1625736862] [2] [pathplanning] path planning add blocked area from:680 to:3174
[INFO  ] [1625736862] [2] [pathplanning] path planning add blocked area from:3174 to:680
[INFO  ] [1625736862] [2] [pathplanning] blockade area:1132166.0 roadArea:1132166.0
[INFO  ] [1625736862] [2] [pathplanning] path planning add blocked area from:3273 to:8961
[INFO  ] [1625736862] [2] [pathplanning] path planning add blocked area from:3273 to:15056
[INFO  ] [1625736862] [2] [pathplanning] path planning add blocked area from:8961 to:3273
[INFO  ] [1625736862] [2] [pathplanning] path planning add blocked area from:8961 to:15056
[INFO  ] [1625736862] [2] [pathplanning] path planning add blocked area from:15056 to:3273
[INFO  ] [1625736862] [2] [pathplanning] path planning add blocked area from:15056 to:8961
[INFO  ] [1537573659] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1537573659] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1537573659] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1537573659] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1537573659] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1537573659] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1537573659] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1537573659] [2] [humanDetector] agent:1537573659 is at the same position
[INFO  ] [1537573659] [2] [humanDetector] targetFromWorld:null
[INFO  ] [306169390] [2] [humanDetector] closest refuge:24233
[INFO  ] [306169390] [2] [humanDetector] add clear action message for target:6351
Exception in thread "pool-1-thread-154" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1625736862] [2] [humanDetector] closest refuge:24233
[INFO  ] [1625736862] [2] [humanDetector] add clear action message for target:3273
Exception in thread "pool-1-thread-166" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-167" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1207214652] [2] [pathplanning] blockade area:4389598.0 roadArea:4389598.0
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:5433 to:8214
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:5433 to:27383
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:8214 to:5433
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:8214 to:27383
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:27383 to:5433
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:27383 to:8214
Exception in thread "pool-1-thread-168" java.lang.RuntimeException: VDClinet is not initialized yet.
[INFO  ] [1207214652] [2] [pathplanning] blockade area:5441594.0 roadArea:5441594.0
[INFO 	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65) 
] [306169390] [2] [humanDetector] agent rescueTargets.size:0	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)

	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:5433 to:7647
[INFO  ] [306169390] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:5433 to:16010
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:7647 to:5433
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:7647 to:16010
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:16010 to:5433
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:16010 to:7647
[INFO  ] [1207214652] [2] [pathplanning] blockade area:4750424.0 roadArea:4750424.0
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:25012 to:8214
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:8214 to:25012
[INFO  ] [1207214652] [2] [pathplanning] blockade area:3214495.5 roadArea:3214495.5
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:1482 to:2679
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:2679 to:1482
[INFO  ] [1625736862] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1625736862] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1207214652] [2] [pathplanning] blockade area:3425974.0 roadArea:3425974.0
[Exception in thread "pool-1-thread-165" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
INFO  ] [1625736862] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:2994 to:4434
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:2994 to:10697
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:4434 to:2994
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:4434 to:10697
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:10697 to:2994
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:10697 to:4434
[INFO  ] [1207214652] [2] [pathplanning] blockade area:4765113.0 roadArea:4765113.0
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:2994 to:28368
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:28368 to:2994
[INFO  ] [1207214652] [2] [pathplanning] blockade area:5.728881E7 roadArea:5.728881E7
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:32967 to:4434
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:32967 to:7269
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:32967 to:6315
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:4434 to:32967
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:4434 to:7269
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:4434 to:6315
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:7269 to:32967
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:7269 to:4434
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:7269 to:6315
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:6315 to:32967
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:6315 to:4434
[INFO  ] [1207214652] [2] [pathplanning] path planning add blocked area from:6315 to:7269
[INFO  ] [1207214652] [2] [humanDetector] closest refuge:24233
[Exception in thread "pool-1-thread-170" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
INFO  ] [1207214652] [2] [humanDetector] add clear action message for target:7647
[INFO  ] [1625736862] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1625736862] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1625736862] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1625736862] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1625736862] [2] [humanDetector] agent:1625736862 is at the same position
[INFO  ] [1625736862] [2] [humanDetector] targetFromWorld:null
[INFO  ] [306169390] [2] [humanDetector] loadTargets.size:0
[INFO  ] [306169390] [2] [humanDetector] targetFromCluster:null
[INFO  ] [306169390] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [306169390] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [306169390] [2] [humanDetector] loadTargets.size:0
[INFO  ] [306169390] [2] [humanDetector] agent:306169390 is at the same position
[INFO  ] [306169390] [2] [humanDetector] targetFromWorld:null
Exception in thread "pool-1-thread-171" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [658761447] [2] [pathplanning] blockade area:4389598.0 roadArea:4389598.0
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:5433 to:8214
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:5433 to:27383
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:8214 to:5433
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:8214 to:27383
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:27383 to:5433
[INFO  ] [1207214652] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:27383 to:8214
[INFO  ] [1207214652] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1207214652] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1207214652] [2] [humanDetector] targetFromCluster:null
[INFO  ] [658761447] [2] [pathplanning] blockade area:5441594.0 roadArea:5441594.0
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:5433 to:7647
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:5433 to:16010
[INFO  ] [1207214652] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:7647 to:5433
[INFO  ] [1207214652] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:7647 to:16010
[INFO  ] [1207214652] [2] [humanDetector] loadTargets.size:0
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:16010 to:5433
[INFO  ] [1207214652] [2] [humanDetector] agent:1207214652 is at the same position
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:16010 to:7647
[INFO  ] [1207214652] [2] [humanDetector] targetFromWorld:null
[INFO  ] [658761447] [2] [pathplanning] blockade area:4750424.0 roadArea:4750424.0
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:25012 to:8214
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:8214 to:25012
[INFO  ] [658761447] [2] [pathplanning] blockade area:3425974.0 roadArea:3425974.0
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:2994 to:4434
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:2994 to:10697
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:4434 to:2994
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:4434 to:10697
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:10697 to:2994
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:10697 to:4434
[INFO  ] [658761447] [2] [pathplanning] blockade area:2241048.5 roadArea:2241048.5
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:7269 to:15182
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:15182 to:7269
[INFO  ] [658761447] [2] [pathplanning] blockade area:4765113.0 roadArea:4765113.0
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:2994 to:28368
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:28368 to:2994
[INFO  ] [658761447] [2] [pathplanning] blockade area:4519546.0 roadArea:4519546.0
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:32965 to:6315
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:6315 to:32965
[INFO  ] [658761447] [2] [pathplanning] blockade area:5.728881E7 roadArea:5.728881E7
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:32967 to:4434
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:32967 to:7269
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:32967 to:6315
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:4434 to:32967
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:4434 to:7269
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:4434 to:6315
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:7269 to:32967
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:7269 to:4434
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:7269 to:6315
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:6315 to:32967
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:6315 to:4434
[INFO  ] [658761447] [2] [pathplanning] path planning add blocked area from:6315 to:7269
[INFO  ] [658761447] [2] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-172" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-173" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [658761447] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [658761447] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [658761447] [2] [humanDetector] loadTargets.size:0
[INFO  ] [658761447] [2] [humanDetector] targetFromCluster:null
[INFO  ] [658761447] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [658761447] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [658761447] [2] [humanDetector] loadTargets.size:0
[INFO  ] [658761447] [2] [humanDetector] agent:658761447 is at the same position
[INFO  ] [658761447] [2] [humanDetector] targetFromWorld:null
[INFO  ] [839236544] [2] [pathplanning] blockade area:4389598.0 roadArea:4389598.0
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:5433 to:8214
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:5433 to:27383
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:8214 to:5433
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:8214 to:27383
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:27383 to:5433
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:27383 to:8214
[INFO  ] [839236544] [2] [pathplanning] blockade area:3214495.5 roadArea:3214495.5
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:1482 to:2679
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:2679 to:1482
[INFO  ] [839236544] [2] [pathplanning] blockade area:4135123.5 roadArea:4135123.5
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:1864 to:2625
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:2625 to:1864
[INFO  ] [839236544] [2] [pathplanning] blockade area:5441594.0 roadArea:5441594.0
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:5433 to:7647
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:5433 to:16010
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:7647 to:5433
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:7647 to:16010
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:16010 to:5433
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:16010 to:7647
[INFO  ] [839236544] [2] [pathplanning] blockade area:4750424.0 roadArea:4750424.0
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:25012 to:8214
[INFO  ] [839236544] [2] [pathplanning] path planning add blocked area from:8214 to:25012
[INFO  ] [839236544] [2] [humanDetector] closest refuge:24233
[INFO  ] [839236544] [2] [humanDetector] add clear action message for target:8088
Exception in thread "pool-1-thread-174" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-175" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [839236544] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [839236544] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [839236544] [2] [humanDetector] loadTargets.size:0
[INFO  ] [839236544] [2] [humanDetector] targetFromCluster:null
[INFO  ] [839236544] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [839236544] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [839236544] [2] [humanDetector] loadTargets.size:0
[INFO  ] [839236544] [2] [humanDetector] agent:839236544 is at the same position
[INFO  ] [839236544] [2] [humanDetector] targetFromWorld:null
[INFO  ] [160627440] [2] [pathplanning] blockade area:3143949.0 roadArea:3143949.0
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:24895 to:8304
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:24895 to:6315
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:8304 to:24895
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:8304 to:6315
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:6315 to:24895
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:6315 to:8304
[INFO  ] [160627440] [2] [pathplanning] blockade area:4519546.0 roadArea:4519546.0
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:32965 to:6315
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:6315 to:32965
[INFO  ] [160627440] [2] [pathplanning] blockade area:5.728881E7 roadArea:5.728881E7
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:32967 to:4434
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:32967 to:7269
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:32967 to:6315
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:4434 to:32967
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:4434 to:7269
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:4434 to:6315
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:7269 to:32967
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:7269 to:4434
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:7269 to:6315
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:6315 to:32967
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:6315 to:4434
[INFO  ] [160627440] [2] [pathplanning] path planning add blocked area from:6315 to:7269
[INFO  ] [160627440] [2] [humanDetector] closest refuge:24233
[INFO  ] [160627440] [2] [humanDetector] add clear action message for target:8304
Exception in thread "pool-1-thread-176" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-177" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [160627440] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [160627440] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [160627440] [2] [humanDetector] loadTargets.size:0
[INFO  ] [160627440] [2] [humanDetector] targetFromCluster:null
[INFO  ] [160627440] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [160627440] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [160627440] [2] [humanDetector] loadTargets.size:0
[INFO  ] [160627440] [2] [humanDetector] agent:160627440 is at the same position
[INFO  ] [160627440] [2] [humanDetector] targetFromWorld:null
[INFO  ] [199672555] [2] [pathplanning] blockade area:2357413.5 roadArea:2357413.5
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:2265 to:32766
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:2265 to:28036
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:32766 to:2265
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:32766 to:28036
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:28036 to:2265
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:28036 to:32766
[INFO  ] [199672555] [2] [pathplanning] blockade area:3482108.0 roadArea:3482108.0
[INFO  ] [199672555] [2] [pathplanning] path planning set already existing one from:32766 to:2265
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:32766 to:14860
[INFO  ] [199672555] [2] [pathplanning] path planning set already existing one from:2265 to:32766
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:2265 to:14860
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:14860 to:32766
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:14860 to:2265
[INFO  ] [199672555] [2] [pathplanning] blockade area:1360240.5 roadArea:1360240.5
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:32767 to:3021
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:32767 to:22559
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:3021 to:32767
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:3021 to:22559
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:22559 to:32767
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:22559 to:3021
[INFO  ] [199672555] [2] [pathplanning] blockade area:4135123.5 roadArea:4135123.5
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:1864 to:2625
[INFO  ] [199672555] [2] [pathplanning] path planning add blocked area from:2625 to:1864
[INFO  ] [199672555] [2] [humanDetector] closest refuge:15322
Exception in thread "pool-1-thread-178" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-179" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [199672555] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [199672555] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [199672555] [2] [humanDetector] loadTargets.size:0
[INFO  ] [199672555] [2] [humanDetector] targetFromCluster:null
[INFO  ] [199672555] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [199672555] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [199672555] [2] [humanDetector] loadTargets.size:0
[INFO  ] [199672555] [2] [humanDetector] agent:199672555 is at the same position
[INFO  ] [199672555] [2] [humanDetector] targetFromWorld:null
[INFO  ] [1052693628] [2] [pathplanning] blockade area:3143949.0 roadArea:3143949.0
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:24895 to:8304
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:24895 to:6315
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:8304 to:24895
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:8304 to:6315
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:6315 to:24895
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:6315 to:8304
[INFO  ] [1052693628] [2] [pathplanning] blockade area:1854867.5 roadArea:1854867.5
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:680 to:3174
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:3174 to:680
[INFO  ] [1052693628] [2] [pathplanning] blockade area:1132166.0 roadArea:1132166.0
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:3273 to:8961
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:3273 to:15056
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:8961 to:3273
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:8961 to:15056
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:15056 to:3273
[INFO  ] [1052693628] [2] [pathplanning] path planning add blocked area from:15056 to:8961
[INFO  ] [1052693628] [2] [humanDetector] closest refuge:24233
Exception in thread "pool-1-thread-180" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
Exception in thread "pool-1-thread-181" java.lang.RuntimeException: VDClinet is not initialized yet.
	at com.mrl.debugger.remote.VDClient.draw(VDClient.java:65)
	at com.mrl.debugger.remote.VDClient.lambda$drawAsync$0(VDClient.java:79)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
[INFO  ] [1052693628] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1052693628] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1052693628] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1052693628] [2] [humanDetector] targetFromCluster:null
[INFO  ] [1052693628] [2] [humanDetector] agent rescueTargets.size:0
[INFO  ] [1052693628] [2] [humanDetector] agent+civilian rescueTargets.size:0
[INFO  ] [1052693628] [2] [humanDetector] loadTargets.size:0
[INFO  ] [1052693628] [2] [humanDetector] agent:1052693628 is at the same position
[INFO  ] [1052693628] [2] [humanDetector] targetFromWorld:null
Killed
