Merge pull request #68 from madratman/PR/update_docs

update docs

README.md

@@ -71,6 +71,16 @@ There are two ways to swap between levels, either via AirSIm API or by the UI me
 - Please note that this leaderboard is not for the qualification rounds. 
 This is effectively a dry run for you to gauge your performance and for us to gather feedback. 
 The qualification binaries with new race tracks will be released next month
+
+- How to generate logfiles for each tier:
+	- Calling simStartRace with the desired tier level generates the appropriate log files.    
+	As soon as simStartRace is called, `drone_2` (MSR opponent racer) will start flying.    
+	Note that `simGetObjectPose()` will return noisy gate poses if tier=2 of tier=3 is passed to `simStartRace`   
+	See `baseline_racer.py` for sample code. Note that if the `--race_tier` argument to `baseline_racer.py` is 2 or 3, `drone_2` will follow the noisy waypoints.  
+	```
+	client.simStartRace(tier=1/2/3)
+	```
+
 - To submit your results to the leaderboard:
 	- Navigate to the [submission site](https://microsoft.github.io/AirSim-NeurIPS2019-Drone-Racing/upload.html), enter your team name in the proper field, and upload any number of [race logs](https://github.com/microsoft/AirSim-NeurIPS2019-Drone-Racing/blob/master/docs/competition_guidelines.md#race-monitoring).   
 It's ok to make a submission for as little as a single track and/or a single tier.   

docs/competition_guidelines.md

@@ -56,7 +56,7 @@ The gates are rectangular and marked using a "race-tape" checker pattern with di
 - The back side of the gate is colored red.
 
 ## Tracks
-Α race is carried out on a track consisting of a series of gates that must be traversed in order and in the correct direction. There are three tracks with increasing difficulties, which meet the following specifications.
+Α race is carried out on a track consisting of a series of gates that must be traversed in order and in the correct direction. The hardness is defined with the following specifications.
 
 1. **Easy**
    - All gates are at the same altitude above the ground (2D tracks).
@@ -103,7 +103,7 @@ For every racetrack, there is a maximum lap time ***t***<sub>max</sub>. If the p
 **Drone-Drone collision (Tier I and III)**  
 It is the job of the chasing drone to avoid the leading drone. In the case of a collision, penalties are always incurred by the chasing drone.
 
-For collision purposes, the drones are modeled as simple boxes. A collision is registered any time the distance between the two drones falls below **d**. One drone-drone collision is allowed, for which the chasing drone incurs a flat time penalty of ***t***<sub>c</sub>. Any subsequent collisions will disqualify the chasing drone, and the other drone is allowed to finish without an opponent.
+For collision purposes, the drones are modeled as simple boxes. A collision is registered any time the distance between the two drones falls below **d**. In the event of a drone-drone collision, the chasing drone is disqualified.
 
 **Collision with environment/gates**  
 Every collision with other objects in the environment such as the gates is penalized with a time delay represented by ***t***<sub>***e***</sub>. The drone-environment collisions are checked over a specific window of time ***t***<sub>cw</sub>. Multiple collisions registered under the window of ***t***<sub>cw</sub> are treated as a single collision.
@@ -129,7 +129,7 @@ There are two reasons for a disqualification: Timeouts and multiple drone-drone
 1. **Timeout**  
 If a drone does not finish within the maximal lap time of a track, it is disqualified.
 2. **Collision with another drone**  
-If a drone-drone collision happens more than once, the chasing drone is disqualified.
+If a drone-drone collision happens, the chasing drone is disqualified.
 
 In case of a disqualification, the score is equivalent to achieving the maximal lap time.