From c37af999d3cb95863c48c35a08e9592d230cd3ad Mon Sep 17 00:00:00 2001 From: Daniel Swoboda Date: Sun, 9 Feb 2025 18:55:06 +0100 Subject: [PATCH] update for 2025 --- rulebook.tex | 371 ++++++++++++++++++++++++++++----------------------- 1 file changed, 206 insertions(+), 165 deletions(-) diff --git a/rulebook.tex b/rulebook.tex index e1c60cd..e3921c0 100644 --- a/rulebook.tex +++ b/rulebook.tex @@ -77,7 +77,7 @@ %% HYPERREF %%%%%%%%%%%%%%%%%%% \usepackage{hyperref} \hypersetup{ - pdftitle = {The RoboCup Logistics League Rulebook for 2024}, + pdftitle = {The RoboCup Logistics League Rulebook for 2025}, pdfauthor = {RCLL TC}, pdfkeywords = {RCLL, Rulebook}, pdfsubject = {}, @@ -157,13 +157,13 @@ \begin{LARGE} {\bf RoboCup Logistics League}\\[2ex] - {\Large Rules and Regulations 2024}\\[4ex] + {\Large Rules and Regulations 2025}\\[4ex] \end{LARGE} \hrule {\LARGE\vspace*{4ex}} \begin{Large} - The Technical Committee 2012--2024\\[6ex] + The Technical Committee 2012--2025\\[6ex] \end{Large} \begin{tabular}{lll} \textbf{Kousheek Chakraborty}& @@ -200,8 +200,8 @@ \\ \end{tabular} \vfill - Revision Date: Saturday, April 13\textsuperscript{\raisebox{-.2ex}{th}} - 2024 + Revision Date: Sunday, Feb 9\textsuperscript{\raisebox{-.2ex}{th}} + 2025 %\\ DRAFT --- Work in Progress \end{center} \end{titlepage} @@ -247,9 +247,7 @@ \section{Introduction} comprehensible size. Being an industry motivated league, it focuses on challenges promoting precise actions and robust long-enduring execution, and further encourages external data supported -autonomy. By providing feedback and competition hardware, industrial -partner Festo transfers insights into future factory concepts to help - uncover relevant future topics for education and research. +autonomy. This year's competition is laid out in the following pages. It ensures the same and fair conditions for all participants. It neither @@ -323,7 +321,7 @@ \section{Introduction} Seasoned teams continue to compete against each other in regular \ac{RCLL} games in the main track of the competition. The league also relaxed the hardware restrictions to allow the use of - alternative robotic platforms other than the Festo robotino for + alternative robotic platforms other than the Festo Robotino for teams competing in the new challenge track. This enables interested teams to explore the different tasks of the \ac{RCLL} before committing to the standard platform of the league. @@ -347,7 +345,10 @@ \section{Introduction} delivery of products within the delivery-windows. In 2024 the TC focused on the accessibility of the league by improving documentation and procedures as well as updating the user interface of the - referee box to support dynamic reconfiguration and spectator views. + referee box to support dynamic reconfiguration and spectator views. For 2025, + the TC plans to further improve the accessibility of the league by improving + tooling, documentation, and by lifting platform restrictions for the main + track. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% \subsection{The Task} @@ -383,7 +384,7 @@ \subsection{The Task} A \ac{RCLL} tournament is divided, such that entry-level teams participate in the challenge track and advanced teams compete in the main track separately. -This work flow is controlled by a \acf{refbox}~\cite{RCI-RefBox}% +This workflow is controlled by a \acf{refbox}~\cite{RCI-RefBox}% \footnote{Code and documentation available at \url{https://github.com/robocup-logistics/rcll-refbox}} broadcasting information via wifi (see \refsec{sec:referee-box}). @@ -391,7 +392,7 @@ \subsection{The Task} It is a software system that runs on a system provided by the Organizing Committee and controls the overall game, monitors feedback from the robots, and awards points. -The work flow itself is divided into phases: +The game itself is divided into phases: During a setup phase (see \refsec{sec:setup-phase}) the field setup is prepared and the robots are started. Within the production phase (see \refsec{sec:production-phase}) the @@ -407,18 +408,19 @@ \subsection{The Task} %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% \subsection{Agreements \& Regulations} \label{sec:agreements} -\paragraph{Standardized Robotic Platform} -In the \ac{RCLL}, the Robotino robotic system from Festo Didactic SE is used as -the common base platform. -It can be used with certain freedoms and limitations regarding hardware and -software modifications and additions, which will be outlined in -\refsec{sec:robotino}. -This includes the current version, Robotino 4, as well as the phased-out -Robotino 3 and 2. -Entry-level teams can explore the league with other robotic platforms as -participation in the challenge track does not require the usage of the -Robotino platform. However, the general hardware constraints outlined in -\refsec{sec:robotino} still apply. +\paragraph{Robotic Platforms} +Until 2025, the Festo Robotino was the standard platform +of the \ac{RCLL}. Starting in 2025, the \ac{RCLL} will allow the usage of +alternative robotic platforms for every track of the competition, as long as +they fulfill the general hardware constraints outlined in \refsec{sec:robotino}. +The \ac{RCLL} will continue to support the Robotino platform as a reference +platform for the main track of the competition, but teams are encouraged to +explore the league with other robotic platforms as well. + +Hardware constraints for the main track will be derived from the specifications +of the latest generation of Robotino robots (Robotino 4). These constraints are +designed to ensure a fair competition and to allow for a smooth integration of +the robots into the competition environment. \paragraph{Rules Philosophy} Each team should act within the meaning of a cooperative and fair behavior, @@ -509,8 +511,10 @@ \subsection{Website and Contact} \smallskip \noindent -We also have a Slack workspace, which anyone is welcome to +A slack workspace is set up for the league and used to communicate +most details and quickly answer questions. You can join\footnote{{\url{https://join.slack.com/t/robocuplogist-ewg8659/shared_invite/zt-11rvzswk5-AuV0isGO3Log1soa5_dwmg}}}. %chktex ignore-long-line +here. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% \section{Competition Area} \label{sec:area} @@ -712,9 +716,8 @@ \section{Machines} \end{description} \noindent -Machines of type \ac{CS} and \ac{RS} are called production machines as they -perform refinement steps on a workpiece during the production -phase. Processing times are outlined in \reftab{tab:processing-times}. +Processing times for each of the machines are outlined in +\reftab{tab:processing-times}. \begin{figure}[bh!] \centering @@ -780,21 +783,22 @@ \section{Machines} Type & Distribution & (Final) processing time[s]\\\hline \acf{BS} & 1 per team & minimum physical time\\ \acf{CS} & 2 per team & $t_2 = \SItextrange{15:25}{\sec}$\\ - \acf{RS} & 2 per team &$t_3 = \SItextrange{40:60}{\sec}$\\ + \acf{RS} & 2 per team &$t_3 = \SItextrange{15:25}{\sec}$\\ \acf{SS} & 1 per team & minimum physical time\\ - \acf{DS} & 1 per team &$t_5 =\SItextrange{20:40}{\sec}$ + \acf{DS} & 1 per team &$t_5 =\SItextrange{5:15}{\sec}$ \end{tabularx} } - \caption{\ac{MPS} type, distribution and processing times} + \caption{\ac{MPS} type, distribution and approximate processing times} \label{tab:processing-times} \end{table} \subsubsection{Physical Description of Machines} -The stations have a rectangular base shape of \SI{0,35 x 0,7}{\metre}% chktex 29 -with a height of about \SI{1}{\metre} depending on machine type. -A machine is movable by four wheels with \SI{0.1}{\metre} clearance. -Both narrow sides of the trolley are closed by plexiglas and have a handle. +The stations have a rectangular base shape of \SI{0.35 \times0.7}{\metre} with +a height of about \SI{1}{\metre} depending on machine type. +Machines are movable by four wheels with \SI{0.1}{\metre} clearance. +Both narrow sides of the trolley are covered with transparent acrylic doors +and have a handle, and a lock. All physical interfaces like conveyor belt inputs and outputs, shelves, and slides for additional bases on ring stations are accessible at \SI{89.8}{\centi\metre} height\footnote{Note however, that due to small @@ -806,7 +810,7 @@ \subsubsection{Physical Description of Machines} for infrared-emitting cameras. To simplify the delivery on the belt, each machine will be equipped with a narrowing cone on its input side (\reffig{fig:narrow-cone}). You can order them from Festo Didactic SE -(C. Deppe) or download the STL model file from the \ac{RCLL} site. +or download the STL model file from the \ac{RCLL} site. \begin{figure} \includegraphics[height=8cm]{narrowConeSketch.jpg} \caption{Narrowing cone} @@ -865,8 +869,10 @@ \subsubsection{Machine Positioning} (e.g., zones C-Z*1, C-Z*8, C-Z7*, M-Z*1, M-Z*8 and M-Z7* in \reffig{fig:competition-area}). The reason being, that the shelf and slide of these stations are -offset sideways at the input side. This might lead to the situation that for one -team the shelf is close to the wall, and for the other it is not. To remedy this +offset sideways at the input side. This might lead to the situation that for +one +team the shelf is close to the wall, and for the other it is not. To remedy +this problem, the \ac{RS} and \ac{CS} machines adjacent to a wall will always be placed such that the shelf or slide is on the farther end with respect to the wall. @@ -934,8 +940,9 @@ \subsubsection{Machine Positioning} is, a path to each blocked zone (see \reffig{fig:zone-mps-blocked}) must exist from any unoccupied or blocked zone of the field. If a machine is rotated with \ang{0}, \ang{90}, \ang{180} or \ang{270} the zones in front the input and -output side are blocked as well (\reffig{fig:zone-mps-rotation-straight}). For -machines with rotations \ang{45}, \ang{135}, \ang{225} and \ang{315} three zones +output side are blocked as well (\reffig{fig:zone-mps-rotation-straight}). For +machines with rotations \ang{45}, \ang{135}, \ang{225} and \ang{315} three +zones in front of each input and output side are blocked (\reffig{fig:zone-mps-rotation-odd}). No \ac{MPS} nor blocked zones for another \ac{MPS} may be placed in a blocked zone. @@ -1092,7 +1099,8 @@ \subsubsection{Markers} machines or not. In the main track of the \ac{RCLL}, where two teams compete on the same playing field, \acl{UMPS} markers may be used for machines of a team that -does not require markers, if the opposing team relies o the presence of markers. +does not require markers, if the opposing team relies o the presence of +markers. Markers will be horizontally centered below the conveyor belt. The vertical distance @@ -1132,11 +1140,13 @@ \section{Game Play} At the beginning of each match, the \ac{refbox} must be configured according to the game mode specification. To guide the match, the \ac{refbox} utilizes different phases, -which are outlined in the following sections. Within the different game modes in +which are outlined in the following sections. Within the different game modes +in the \ac{RCLL} (see \refsec{sec:tournament-main} and \refsec{sec:tournament-challenges}), different phases might be utilized. Regardless of the game mode, all matches will -start at the exact time scheduled by the Organizing Committee in the setup phase +start at the exact time scheduled by the Organizing Committee in the setup +phase (cf.~\refsec{sec:setup-phase}). @@ -1157,6 +1167,13 @@ \subsection{Setup Phase} The \ac{refbox} will automatically end the setup phase after 5 minutes. Production phase follows. +Every team is entitled to perform non-obstrusive visual checks of the field, +the machines, and the robots of the opposing team during the setup phase. +Scrutineering is only allowed during the setup phase and must be announced to +the referees beforehand. The opposing team must be informed about the +scrutineering in advance and must be given the opportunity to be present during +the inspection. + \subsection{Production Phase} \label{sec:production-phase} During the production phase machines can be used to assemble products @@ -1256,7 +1273,7 @@ \subsubsection{Workpieces} \label{fig:workpieces} \end{figure} -\paragraph{Barcodes.} +\paragraph{Barcodes} All bases are labeled with a horizontally encircling, white glossy tag containing a white reference area as well as an identifying UPC-E barcode. @@ -1415,7 +1432,7 @@ \subsubsection{MPS --- During Production Phase} The light signals are summarized in \reftab{tab:machine-lights}. -In the production phase, machines must be prepared to be used by instructing +Machines must be prepared to be used by instructing the refbox. This applies to all machine types. If a product from the input is required for the processing step (\ac{DS}, \ac{CS}, \ac{RS} and a storage operation at the \ac{SS}), @@ -1423,7 +1440,7 @@ \subsubsection{MPS --- During Production Phase} after receiving a prepare message. If no workpiece reaches the machine operating point (indicated through the middle belt sensor) within \SI{45}{\second}, the machine goes to a temporary out-of-order -state (cf.~\refsec{sec:broken-machine}). +state if confirmed by a referee (cf.~\refsec{sec:broken-machine}). The \ac{BS} and the retrieval operation at the \ac{SS} cause the requested workpiece to be dispensed upon receiving a prepare message. After performing an operation at the \ac{BS}, \ac{CS}, \ac{RS} or the \ac{SS} @@ -1431,7 +1448,7 @@ \subsubsection{MPS --- During Production Phase} If no workpiece reaches the destination point (indicated through the output belt sensor, or in case of the \ac{BS} either the input or output belt sensor) within \SI{90}{\second}, -the machine goes in a temporary out-of-order state +the machine goes in a temporary out-of-order state if confirmed by a referee (cf.~\refsec{sec:broken-machine}). The workpiece may remain on the machine for an arbitrary time after the operation is completed. @@ -1489,7 +1506,8 @@ \subsubsection{MPS --- During Production Phase} \noindent\textbf{\acl{SS}} The \ac{SS} prepare message denotes the storage place (shelf and slot number) and the type of the operation that should be performed. -The \ac{SS} consists of six shelves with eight slots each. \reffig{fig:ss-shelf} +The \ac{SS} consists of six shelves with eight slots each. +\reffig{fig:ss-shelf} depicts how positions are mapped to their respective shelf and slot numbers $(x,y),x\in[0,5],y\in[0,7]$. Accessing a slot $(x,y), y\in\{1,3,5,7\}$ in the back of a shelf while slot @@ -1526,8 +1544,10 @@ \subsubsection{MPS --- During Production Phase} There may be only one transaction running at a time. If a second preparation is performed the machine will be temporarily broken, which causes it to recover to a determined state. -An \ac{MPS} may be reset by a team at any time by a dedicated msg. -This causes the \ac{MPS} to go into the broken state as well. +An \ac{MPS} may be reset by a team at any time by a dedicated message. +This causes the \ac{MPS} to go into the broken state as well, after +which it returns to the initial state. This also means that it must +be physically reset. \begin{table} \begin{tabular}{c|c|c||l} @@ -1556,17 +1576,28 @@ \subsubsection{Broken Machine Downtime} \label{sec:broken-machine} If a machine is improperly instructed or used, or a reset message has been sent, the machine will go into a failure state. The machine cannot be -used for 30 seconds and until repaired. This includes interactions with shelves, -conveyor belts, or slides. -That is, if damage was -inflicted on the machine or the referee needs longer to repair the +used for 30 seconds and until repaired. This includes interactions with +shelves, conveyor belts, or slides. +Unless wrongly instructed or reset by a team, the referee must confirm that +the machine didn't go into failure state due to a technical malfunction. + +If the machine breaks due to a damage caused by a team, the machine will go +into a failure state for 30 seconds. Should the inflicted damage +take longer to repair the machine the game continues and the machine will be offline for a -longer time. Any production that was running will be aborted and any -product which was being processed or placed into the machine's input or output -is no longer available and will be removed by the referee. Any additional bases -or caps buffered at the machine will be void and the points gained removed. -For storage stations, no slot is refilled, the load status remains exactly as -before the broken state. The downtime is indicated by a flashing red light. +longer time. + +If no malfunction occured, any production that was running will be aborted and +any product which was being processed or placed into the machine's input or +output is no longer available and will be removed by the referee. Any additional +bases or caps buffered at the machine will be void and the points gained +removed. For storage stations, no slot is refilled, the load status remains +exactly as before the broken state. The downtime is indicated by a flashing red +light. + +In case of a malfunction, the machine will not break. Instead, the referee will +switch the machine into a mockup mode, where the machine will be operated by a +replenisher. \subsubsection{Scheduled Machine Downtime} @@ -1625,11 +1656,13 @@ \subsection{Task Fulfillment and Scoring} \paragraph{Competitive Order Scoring} For a competitive order, the same scoring scheme for in-time, delayed, and late -delivery applies, with additional points for the successful first delivery and a +delivery applies, with additional points for the successful first delivery and +a point deduction for the second delivery (cf.~\reftab{tab:scoring}). The deduction may not exceed the points given for the delivery\footnote{As an example, if a team delivers late and scores only $5$ points for the delivery, -only $5$ points will be deducted.}. Points for production steps are given in the +only $5$ points will be deducted.}. Points for production steps are given in +the same way as for non-competitive orders. In particular, production points are also given if a team delivers the product after the other team. @@ -1830,8 +1863,8 @@ \subsection{Task Fulfillment and Scoring} & \multicolumn{1}{l}{Game Commentary} & \multicolumn{1}{l}{Points}\\\hline\hline Accepted Commentary - & Commentate at least one half of the game continuously on microphone in - English (or the local language of the venue) to the public + & Commentate at least one half of the game continuously on microphone + in English (or the local language of the venue) to the public & +10\\ %disable row coloring again. activate with \showrowcolors \hiderowcolors% @@ -1999,8 +2032,8 @@ \subsubsection{Machine Refill} refilled when a magazine or shelf is empty. In this case the replenisher may enter the competition-area without asking the referee. Shelves have to be (re-)filled in all three reachable slots. % chktex 36 -The replenisher may restock only caps if transparent base elements have been put -back to the shelf, once no cap is remaining on this shelf. +The replenisher may restock only caps if transparent base elements have been +put back to the shelf, once no cap is remaining on this shelf. Ring station slides must be emptied once three payments are inserted to avoid overflowing slides. @@ -2025,10 +2058,19 @@ \section{Hardware Specification} \subsection{Robot Dimensions} \begin{figure} \includegraphics{figures/dimensions.pdf} - \caption{Robot dimensional constraints (top down view).} + \caption{Robot dimensional constraints (top down view), derived from the Robotino platform.}% chktex ignore-long-line \label{fig:dimensions} \end{figure} +\subsection{Physical Constraints} +The Festo Robotino\footnote{\href{https://robotino.com}{robotino.com}} by +Festo Didactics is the reference platform for the \ac{RCLL}. As such, +we derive specific limitations and constraints from the Robotino platform. +The Robotino is a circular, omnidirectional robot with a diameter of +\SI{45}{\centi\metre}. It is recommended to use omnidirectional drive systems +and a circular base for the robot. The robot must be able to withstand +non-deliberate impacts of other robots or obstacles (e.g., machines). + The robots dimensions (including sensors, computing equipment, etc.) must be within a cylindrical bounding box with maximum total height of \SI{1.6}{\metre} (relative to the ground) and a diameter of @@ -2036,11 +2078,14 @@ \subsection{Robot Dimensions} center-point, green \emph{Robotino base area} plus blue \emph{Extended area} of \reffig{fig:dimensions}) during regular operation. While in front of a machine and during a production process, the gripper may -be extended up to \SI{30}{\centi\metre} beyond the bounding box +be extended up to \SI{30}{\centi\metre} beyond this bounding box (red \emph{Actuator reach} of \reffig{fig:dimensions}). But it is only allowed to reach a maximum of \SI{15}{\centi\metre} into the machine area. +All robots are restricted to +operate with a maximum speed of \SI[fraction-function=\dfrac]{1}{\metre/\second} +to be comparable with the capabilities of the Robotino. There are no set weight limitations, however teams must be able to manually carry their robots from the field with at most 2 people in case of major failures. @@ -2048,11 +2093,11 @@ \subsection{Robot Dimensions} \subsection{Sensors and Actuators} Any kind of sensors can be changed or added to the robot platform. However, it is not possible to implement sensors that require -modifications outside the Robotino area (e.g., Northstar, indoor GPS). -The only additional actuator allowed is one gripping device for -workpieces which can be the original or a modified one. In the resting -position and while driving it also must not exceed the robot diameter by -more than this 5cm, including workpiece. +modifications to the game field (e.g., Northstar, (indoor) GPS). + +Robots are restricted to have only one gripping device. In the resting +position and while driving it also must not exceed the maximum robot diameter by +more than 5cm. Only one workpiece or a composite product must be grasped and transported per robot at once. Storage magazines on the robot or similar are prohibited. All products will incorporate exactly one base @@ -2063,36 +2108,13 @@ \subsection{Sensors and Actuators} release the workpiece for safety whenever the referee wants to take out it. \subsection{Additional Computing Devices} -It is allowed to install additional computing power on the -\Robotino. This may either be in form of a notebook/laptop device or -any other computing device that suits the size requirement of the -\Robotino{} competition system. Furthermore, it is allowed to +Robots may have an arbitrary amount of computing devices installed +as long as physical constraints are not violated. +Furthermore, it is allowed to communicate with an additional computing device off-field. This device may be used for team coordination and/or other purposes. However, communication among the robots and the off-field device is not -guaranteed during the competition. - -\subsection{Robotino-Specific Regulations} -The following regulations are only applied to robots participating in the -main track of the \ac{RCLL}, those are required to use the robotino platform. -For a detailed technical description of the basic robotino hardware, refer to -the robotino website\footnote{\href{https://robotino.com}{robotino.com} by -Festo Didactics.}. - -There must be no changes to the controller or mechanical system. -Past the diameter of \SI{45}{\centi\metre} (the width of the Robotino), -additional hardware may only occupy up to $25\%$ of this -additional \SI{5}{\centi\metre} wide ring around the robot -(e.g., the dashed part of the \emph{Extended area} of \reffig{fig:dimensions}). - -\subsection{Open-Platform Regulations} -The following regulations are only applied to robots participating in the -challenge track of the \ac{RCLL} and that are not utilizing the robotino with -its original controller and mechanical system. - -All robots are restricted to -operate with a maximum speed of \SI[fraction-function=\dfrac]{1}{\metre/\second} -to be comparable with the capabilities of the Robotino. +guaranteed during the competition, due to network interference. \subsection{Markings} \label{sec:robot-markings} @@ -2108,8 +2130,8 @@ \section{Communication} Robots have to operate autonomously, that is, without any human interference during the game. Communication among robots and to -off-board computing units is in principle only allowed using wifi -(cf.~\refsec{sec:wifi-regulations}). If the event regulations set by the +off-board computing units is in principle only allowed using wifi. +If the event regulations set by the venue organizers, organizing committee and technical committee allow it, other wireless communication methods (e.g., broadband cellular) might be used after explicit approval is granted. @@ -2230,10 +2252,7 @@ \subsection{Wifi Regulations} In order to provide the optimal possible solution for wireless communication during the event, all teams are required to use the \SI{5}{\giga\hertz} wifi equipment. They are furthermore required to -connect their Robotinos wifi unit to the access point provided. All -teams can also rely on wifi clients supplied by Festo but are not -required to. A detailed description concerning the infrastructure can -be found in Appendix~\ref{sec:wifi-equipment}. +connect their Robotinos wifi unit to the access point provided. % Please refer to Sect.~\ref{sec:radio-interference} for further details. @@ -2397,8 +2416,8 @@ \subsubsection{Overview --- Main Track} As each team in this phase directly competes with an opposing team, a ranking score will be determined as follows. In each \emph{game}, the winning team gets 3 ranking points, the -loosing team gets 0. A team wins if it achieves more points in the game than the -other team (cf.~\ref{sec:production-phase}). +loosing team gets 0. A team wins if it achieves more points in the game than +the other team (cf.~\ref{sec:production-phase}). In the case of a non-zero draw, see \refsec{sec:overtime} for overtime. If, after overtime, a draw is not resolved, both teams get 1 ranking point. If both team end with a zero score, each team gets 0 ranking points. @@ -2445,11 +2464,11 @@ \subsubsection{Overview --- Main Track} \paragraph{Finals} The best teams of the two playoff groups (or the two best teams in case of one -group) will advance to the grand finale, the remaining two teams will compete in -the small finals for the third place. The team that scores more points after the -regular game time wins. If there is no winner after the regular time, refer to -Section~\refsec{sec:overtime}. If after this there is still no winner, a coin -toss will decide. +group) will advance to the grand finale, the remaining two teams will compete +in the small finals for the third place. The team that scores more points after +the regular game time wins. If there is no winner after the regular time, refer +to Section~\refsec{sec:overtime}. If after this there is still no winner, a +coin toss will decide. \bigskip \hskip-\parindent{} The detailed seeding will be created at the event. Although the idea @@ -2508,7 +2527,8 @@ \subsubsection{Field Layout} \SI{5 x 5}{\metre} and only one team participates at a time. %chktex 29 The field depicted in \reffig{fig:competition-area-challenges} depicts a valid competition area for a match. -Up to four \ac{MPS} may be placed on a field, depending on the chosen challenge. +Up to four \ac{MPS} may be placed on a field, depending on the chosen +challenge. \subsubsection{Remote Setup} In case a competition is carried out remotely, a rule-compliant local setup @@ -2532,8 +2552,8 @@ \subsubsection{Remote Setup} \subsubsection{Overview --- Challenge Track} -The challenge track offers a set of individual challenges that need to be solved -throughout the official competition days. +The challenge track offers a set of individual challenges that need to be +solved throughout the official competition days. The available challenges are defined in \refsec{sec:tournament-challenges}. Points can be earned by solving challenges, where the amount of points varies depending on the difficulty and task of the challenge. @@ -2555,8 +2575,8 @@ \subsubsection{Online Format} \item Then the \texttt{PRODUCTION} phase starts by instructing the referee box accordingly. During the production phase the team has 20 minutes to solve the challenge. - The challenge must be terminated before the 30 minutes of the time slot end, - otherwise the attempt will be counted as a failure. + The challenge must be terminated before the 30 minutes of the time slot + end, otherwise the attempt will be counted as a failure. \end{enumerate} % TODO: is this desired? this encourages volatile solutions that are brute @@ -2661,7 +2681,13 @@ \subsubsection{Challenges Overview} The overall score of the competition is calculated by summing up the score in the highest difficulty achieved in each of the challenge types. The challenge types of the competition are described in -\refsec{sec:challenge-navigation}-\ref{sec:challenge-markerless}. +\refsec{sec:challenge-navigation}-\ref{sec:challenge-simulation}. + +Any challenge requires connection to the refbox. The refbox will be set to the +corresponding phase for each challenge. The setup phase is used to place the +robots and machines on the field. Every challenge will have a production phase +where the actual task has to be solved. The robots may only start moving after +the production phase has started. \subsubsection{Navigation Challenge}\label{sec:challenge-navigation} @@ -2680,16 +2706,25 @@ \subsubsection{Navigation Challenge}\label{sec:challenge-navigation} Partial points may be awarded in case only a subset of target zones were reached, which are accumulated if the challenge is completed fully. +Alternatively, a variation of this challenge may be played where the robot needs +to reach 12 randomly generated combinations of target machine and side +(input or output) instead of a zone. The robot must remain at the corresponding +machine side for at least 5 consecutive seconds. The machine side is considered +reached if the transmitted robot pose is at most \SI{0.5}{\metre} away from the +machine side's outer wall and within the width of the machine side. This +variation is considered to be more difficult and will be scored with a bonus +of 5 points. + \begin{table}[!htb] \centering \begin{tabular}{l|l|l|l|l} \multirow{2}{*}{Machines (Unknown)} & \multicolumn{4}{c}{Scoring} \\\cline{2-5} - & $\geq$ 4 zones & $\geq$ 8 zones & all 12 zones & combined \\\hline\hline - 2 & +4 & +3 & +3 & 10 \\ - 3 & +5 & +4 & +3 & 12 \\ - 4 & +6 & +5 & +4 & 15 \\ - 4 (+1) & +7 & +6 & +5 & 18 \\ + & $\geq$ 4 zones & $\geq$ 8 zones & all 12 zones & combined (w/ bonus) \\\hline\hline% chktex ignore-long-line + 2 & +4 & +3 & +3 & 10 (15) \\ + 3 & +5 & +4 & +3 & 12 (17) \\ + 4 & +6 & +5 & +4 & 15 (20) \\ + 4 (+1) & +7 & +6 & +5 & 18 (23) \\ \end{tabular} \caption{Navigation Challenge} \label{tab:challenge-navigation} @@ -2715,8 +2750,6 @@ \subsubsection{Exploration Challenge}\label{sec:challenge-exploration} \caption{Exploration Challenge} \label{tab:challenge-exploration} \end{table} -This challenge needs to be run by setting the \ac{refbox} to phase -\texttt{EXPLORATION}. \subsubsection{Grasping Challenge}\label{sec:challenge-grasping} Simple grasping task. @@ -2799,41 +2832,43 @@ \subsubsection{Simulation Challenge}\label{sec:challenge-simulation} \label{tab:challenge-cx} \end{table} -\subsubsection{Markerless Detection Challenge}\label{sec:challenge-markerless} -Image recognition challenge to classify different machine types.\\ -\textbf{Task:} Autonomously label the machines shown in a set of pictures -by their type. -A picture may contain more than one machine, which all count towards the -total number of machines to detect. Labels must be placed on the machines -within the picture. Machines are distinguished by their types -(BS, CS, RS, \ac{DS}, \ac{SS}).\\ -As a preparation for this challenge, a data set will be supplied to -all participants which may be used for training and testing -purposes\footnote{\url{https://fh-aachen.sciebo.de/s/mICiBMFyHV5GkxN}}. -The evaluation set for the challenge consists of a set of separate images that -is encrypted and distributed in advance of attempting the challenge. -The password to decrypt the evaluation set is given out when the challenge -is attempted. -This challenge can only be attempted once to avoid improper use of the -evaluation set. -The points scored are calculated based on the relative amount of correctly -and wrongly classified machines (across all types) according to -\reftab{tab:challenge-markerless}. So a total amount of 30 points can be scored -if all machines of all types are correctly classified. -\begin{table}[!htb] - \centering - \begin{tabularx}{\linewidth}{l|l|l|l} - \% Correctly Classified & \% Wrongly Classified & \% Not Classified - & Scoring \\\hline - $x$ & $y$ & $z$ & $(x-y)\cdot30$ - \end{tabularx} - \caption{Machine Detection Challenge} - \label{tab:challenge-markerless} -\end{table} - -In order to verify the labeling, each team must presents the labeled data -within the time slot (e.g., via screen-sharing when participating remotely). -Additionally, the labeled data has to be sent to the \ac{OC}. +% \subsubsection{Markerless Detection Challenge}\label{sec:challenge-markerless} +% Postponed for 2025 to develop an improved successor to the current challenge +% given current developments in the field of machine learning. +% Image recognition challenge to classify different machine types.\\ +% \textbf{Task:} Autonomously label the machines shown in a set of pictures +% by their type. +% A picture may contain more than one machine, which all count towards the +% total number of machines to detect. Labels must be placed on the machines +% within the picture. Machines are distinguished by their types +% (BS, CS, RS, \ac{DS}, \ac{SS}).\\ +% As a preparation for this challenge, a data set will be supplied to +% all participants which may be used for training and testing +% purposes\footnote{\url{https://fh-aachen.sciebo.de/s/mICiBMFyHV5GkxN}}. +% The evaluation set for the challenge consists of a set of separate images that +% is encrypted and distributed in advance of attempting the challenge. +% The password to decrypt the evaluation set is given out when the challenge +% is attempted. +% This challenge can only be attempted once to avoid improper use of the +% evaluation set. +% The points scored are calculated based on the relative amount of correctly +% and wrongly classified machines (across all types) according to +% \reftab{tab:challenge-markerless}. So a total amount of 30 points can be scored +% if all machines of all types are correctly classified. +% \begin{table}[!htb] +% \centering +% \begin{tabularx}{\linewidth}{l|l|l|l} +% \% Correctly Classified & \% Wrongly Classified & \% Not Classified +% & Scoring \\\hline +% $x$ & $y$ & $z$ & $(x-y)\cdot30$ +% \end{tabularx} +% \caption{Machine Detection Challenge} +% \label{tab:challenge-markerless} +% \end{table} +% +% In order to verify the labeling, each team must presents the labeled data +% within the time slot (e.g., via screen-sharing when participating remotely). +% Additionally, the labeled data has to be sent to the \ac{OC}. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %%% @@ -3001,10 +3036,16 @@ \subsubsection{Markerless Detection Challenge}\label{sec:challenge-markerless} % localize themselves via sensors attached to the robot. \subsection{Open Challenge}\label{sec:open-challenge} -Each team will be given 5 minutes to showcase their robot team, e.g., -show some new robotics developments. This may involve any task as long -as it is performed with at most three Robotino robots within the -competition area. For the time of the free challenge, any software or +The open challenge is a free challenge where teams can present their +developments, ideas, and research. The challenge is open to any +any participating team and can be used to showcase developments made +by teams. It is encouraged to present developments that are beneficial +to the league and the community. + +Each team will be given 5 minutes to showcase their ideas. +This may involve live demonstrations of any task as long +as it is performed with at most three competition robots within the +game field. For the time of the open challenge, any software or hardware modification is allowed, even though otherwise disallowed in the regular competition. This may be used to motivate ideas for future developments of the league and to highlight particular advances in the