robocupjunior rescue line – rules 2019 · final rules as of jan.20th,2019 page 7 of 18 1.6...

Final Rules as of Jan.20th,2019 of 18

RoboCupJuniorRescueLine–Rules2019

RoboCupJuniorRescueTechnicalCommittee2018;NaomiChikuma(Japan)CHAIRJosieHughes(UK)Co-ChairPhilWade(Australia)JiayaoShen(Singapore)JuliaMaurer(USA)BarbaraCorreia(Portugal)KaiJunge(UK)JavierGerardoZetinaRosas(Mexico)

RoboCupJuniorRescueTechnicalCommittee2019;

NaomiChikuma(Japan)CHAIRKaiJunge(UK)Co-ChairJanBlumenkamp(Germany)JiayaoShen(Singapore)ElizabethMabrey(USA)CarlosAmorim(Portugal)JavierGerardoZetinaRosas(Mexico)

RoboCupJuniorGeneralChairsIreneKipnis(Israel)CHAIR

RobertoBonilla(Mexico)NereadelaRiva(Sweden)

TrusteesrepresentingRoboCupJunior

AmyEguchi(USA)*FernandoRibeiro(Portugal)GerardElias(Australia)GeraldSteinbauer(Austria)

*RoboCupFederationVicePresidentrepresenting

RoboCupJunior

*RoboCupFederationVicePresidentrepresentingRoboCupJunior

ThesearetheofficialrulesforRoboCupJuniorRescueLine2019.TheyarereleasedbytheRoboCupJuniorRescueTechnicalCommittee.TheEnglishruleshavepriorityoveranytranslations.Changesfromthe2018rulesarehighlightedinred.Pleasenotethattherewereseveralchangesduetogrammarandspellingmistakes.

ScenarioThelandissimplytoodangerousforhumanstoreachthevictims.Yourteamhasbeengivenadifficulttask.Therobotmustbeabletocarryouttherescuemissioninafullyautonomousmodewithnohumanassistance.Therobotmustbedurableandintelligentenoughtonavigatethroughtreacherousterrainwithhills,unevenlandandrubblewithoutgettingstuck.Whentherobotfinallyfindsthevictims,ithastogentlyandcarefullytransportthevictimstothesafeevacuationpointwherehumanscantakeovertherescue.Afterthevictimrescue,therobotshouldbeabletofinditswayoutofthedangerousarea.Timeandtechnicalskillsaretheessential!Comepreparedtobethemostsuccessfulrescueteam.


SummaryAnautonomousrobotshouldfollowablacklinewhileovercomingdifferentproblemsinamodularfieldformedbytileswithdifferentpatterns.Theflooriswhiteincolourandthetilesareondifferentlevelsconnectedwithramps.

Teamsarenotallowedtogivetheirrobotanyadvanceinformationaboutthefieldastherobotissupposedtorecognizethefieldbyitself.Therobotearnspointsasfollows:

• 15pointsforfollowingthecorrectpathonatileatanintersectionoradeadend.• 10pointsforovercominganobstacle(bricks,blocks,weightsandotherlarge,heavyitems).Arobotis

expectedtonavigatethevariousobstacles.• 10pointsforreacquiringthelineafteragap.• 5pointsfornegotiatingaspeedbumpornavigatingthrougharamp.

Iftherobotgetsstuckinthefield,itcanberestartedatthelastvisitedcheckpoint.Therobotwillearnpointswhenitreachesnewcheckpoints.Attheendofthelinetherewillbearectangularroomwithwalls(theevacuationzone).Theentrancetotheroomwillbemarkedwithastripofreflectivesilvertapeonthefloor.Onceinsidetheevacuationzone,therobotshouldlocateandtransportasmanylivevictims(reflectivesilverballsof4-5cmdiameterthatareelectricallyconductive)ordeadvictims(blackballsof4-5cmdiameterthatarenotelectricallyconductive)aspossibletoanevacuationpointinoneofthecornersoftheroom,therobotshoulddistinguishbetweenliveanddeadvictimsandsavelivevictimsfirst.Therobotcanearnbetween5to40pointsforeachvictimdependingofthedifficultylevelandorderofrescue.Therobotmayfaceobstacles/speedbumps/debrisintheevacuationzone.Therobotwillnotscorepointsbynegotiatingthesedifficulties.

OfficialRoboCupJuniorsite:http://robocupjunior(underRescue)

OfficialRoboCupJuniorforum:https://junior.forum.robocup.org/


Contents

Scenario.............................................................................................................................1

Summary...........................................................................................................................2

1. Field............................................................................................................................5

1.1Description....................................................................................................................................5

1.2Floor..............................................................................................................................................5

1.3Line................................................................................................................................................5

1.4SpeedBumps,DebrisandObstacles.............................................................................................6

1.5Intersectionsanddeadends.........................................................................................................6

1.6Doorway........................................................................................................................................7

1.7EvacuationZone............................................................................................................................7

1.8Victims...........................................................................................................................................8

1.9EnvironmentalConditions.............................................................................................................8

2. Robots........................................................................................................................8

2.1Control..........................................................................................................................................8

2.2Construction..................................................................................................................................8

2.3Team.............................................................................................................................................9

2.4Inspection......................................................................................................................................9

2.5Violations....................................................................................................................................10

3. Play...........................................................................................................................10

3.1Pre-roundPractice......................................................................................................................10

3.2Humans.......................................................................................................................................10

3.3StartofPlay.................................................................................................................................11

3.4GamePlay...................................................................................................................................11

3.5Scoring.........................................................................................................................................12

3.6Lackofprogress..........................................................................................................................13

3.7VictimPlacement......................................................................................................................154

3.8EvacuationPointPlacement.....................................................................................................154

3.9EndofPlay...................................................................................................................................14

4. OpenTechnicalEvaluation........................................................................................15

4.1Description..................................................................................................................................15

4.2EvaluationAspects......................................................................................................................15

4.3Sharing........................................................................................................................................16

5. ConflictResolution....................................................................................................16


5.1RefereeandRefereeAssistant....................................................................................................16

5.2RuleClarification.........................................................................................................................16

5.3SpecialCircumstances.................................................................................................................17

6. CodeofConduct........................................................................................................17

6.1Spirit............................................................................................................................................17

6.2FairPlay.......................................................................................................................................17

6.3Behavior......................................................................................................................................17

6.4Mentors.......................................................................................................................................17

6.5EthicsandIntegrity.....................................................................................................................18

6.6Sharing........................................................................................................................................18


1. Field

1.1Description1.1.1Thefieldismadeupofmodulartiles,whichcanbeusedtomakeanendlessnumberofdifferentcoursesfortherobotstotraverse.1.1.2Thefieldwillconsistof30cmx30 cmtiles,withdifferentpatterns.Thefinalselectionoftilesandtheirarrangementwillnotberevealeduntilthedayofthecompetition.Competitiontilesmaybemountedonahard-backingmaterialofanythickness.1.1.3Therewillbeaminimumof8tilesinacompetitionfield.1.1.4Therearedifferenttiledesigns(examplescanbefoundunderrule“1.3Line”).

1.2Floor1.2.1Theflooriswhiteincolour.Thefloormaybeeithersmoothortextured(likelinoleumorcarpet)andmayhavestepsofupto3mmheightinbetweentiles.Duetothenatureofthetiles,theremaybeastepand/orgapintheconstructionofthefield.Thesearenotintentionalandwillbeminimizedasmuchaspossiblebytheorganizers.1.2.2Competitorsshouldbeawarethattilesmaybemountedonthickbackingorraisedofftheground,whichmaymakeitdifficulttogetbackonatilewheretherobotcomesoffthecourse.Noprovisionwillbemadetoassistrobotsthatdriveoffofatiletogetbackontothetile.1.2.3Tileswillbeusedasrampstoallowtherobotsto“climb”uptoanddownfromdifferentlevels.Rampswillnotexceedaninclineof25 degreesfromthehorizontal.1.2.4Robotsmustbedesignedsothattheycannavigateundertilesthatformbridgesoverothertiles.Theminimumheight(spacebetweenthefloorandtheceiling)willbe25 cm.

1.3Line

1.3.1Theblackline,1-2cmwide,maybemadewithstandardelectricalinsulatingtapeorprintedontopaperorothermaterials.Theblacklineformsapathonthefloor.(Thegridlinesindicatedinthedrawingsareforreferenceonlyandcompetitorscanexpecttilestobeduplicated,addedand/oromitted.)1.3.2Straightsectionsoftheblacklinemayhavegapswithatleast5cmofstraightlinebeforeeachgapasmeasuredfromtheshortestportionofthestraightportionoftheline.Thelengthofagapwillbenomorethan20cm.1.3.3Thearrangementofthetilesandpathsmayvarybetweenrounds.1.3.4.Thelinewillbe10cmawayfromanyedgeofthefield.


1.4SpeedBumps,DebrisandObstacles1.4.1Speedbumpswillhaveaheightof1cmorlessandwillbewhite.Whenthespeedbumpisplacedoveranyblackline,theoverlapbetweenthespeedbumpandtheblacklinewillbecolouredblack.1.4.2Debriswillhaveamaximumheightof3 mm.Itwillnotbefixedtothefloor.Debrisconsistsofsmallmaterials

suchastoothpicksorsmallwoodendowels,etc.1.4.3Debrismaybeadjacenttowalls.1.4.4Obstaclesmayconsistofbricks,blocks,weightsandotherlarge,heavyitems.Obstacleswillbeatleast15cmhigh.

1.4.5Anobstaclemaynotoccupymorethanoneline.1.4.6Arobotisexpectedtonavigatearoundobstacles.Therobotmaymoveobstaclesbutitshouldbenotedthatobstaclesmaybeveryheavyorfixedtothefloor.Obstaclesthataremovedwillremainwheretheymovedto,evenifthatpreventstherobotfromproceeding.

1.5Intersectionsanddeadends1.5.1Intersectionscanbeplacedanywhereexceptintheevacuationzone.1.5.2Intersectionsmarkersaregreenand25mmx25mmindimension.Theyindicatethedirectionofthepaththerobotshouldfollow.1.5.3Ifthereisnotagreenmarkeratanintersection,therobotshouldcontinuestraightahead.1.5.4Adeadendiswhentherearetwogreenmarksbeforeanintersection(oneoneachsideoftheline),inthiscasetherobotshouldturnaround.1.5.5Theintersectionsarealwaysperpendicularbutmayhave3or4branches.1.5.6Intersectionmarkerswillbeplacedjustbeforetheintersection.Seetheimagesbelowforpossiblescenarios.


1.6Doorway1.6.1Thefieldlayoutmayhavedoorways.Ifpresentinafield,doorwayswillbeatleast25cmwideand25cmhigh.1.6.2Doorwaysarelocatedonstraightsectionsoftheline.1.6.3Doorwayswillbefixedtothefloor.

1.7EvacuationZone1.7.1Theblacklinewillendattheentranceoftheevacuationzone.1.7.2Theevacuationzoneisapproximately120cmby90cmwithwallsaroundthe4sidesthatareatleast10cmhigh.1.7.3Attheentrancetotheevacuationzone,thereisa25mmx250mmstripofreflectivesilvertapeonthefloor.1.7.4Teamscanchoosebetweentwodifferentevacuationpointtiles,whicharebothrightangledtriangleswithsidesof30cmx30cm:

• Levelone:Theevacuationpointisablacktrianglewithabumpof5mmalongthesidethatdoesnottouchawall.

• Leveltwo:Theevacuationpointisablacktrianglewith6cmwallsandahollowcentre.


LeveloneLeveltwo

1.8Victims1.8.1Victimsmaybelocatedanywhereontheflooroftheevacuationzone.1.8.2Avictimrepresentsapersonandisintheformofa4-5cmdiameterball.1.8.3Therearetwotypesofvictims:•Deadvictimsareblackandnotelectricallyconductive.•Livingvictimsaresilver,reflectlightandareelectricallyconductive.

1.9EnvironmentalConditions1.9.1Theenvironmentalconditionsatatournamentwillbedifferentfromtheconditionsathomepracticefield.Teamsmustcomepreparedtoadjusttheirrobotstotheconditionsatthevenue.1.9.2Lightingandmagneticconditionsmayvaryintherescuefield.1.9.3Thefieldmaybeaffectedbymagneticfields(e.g.generatedbyunderfloorwiringandmetallicobjects).Teamsshouldpreparetheirrobotstohandlesuchinterference.Organizersandrefereeswilldotheirbesttominimizeexternalmagneticinterference.1.9.4Thefieldmaybeaffectedbyunexpectedlightninginterference(e.g.suchascameraflashfromspectators).Teamsshouldpreparetheirrobotstohandlesuchinterference.Organizersandrefereeswilldotheirbestto

minimizeexternallightinginterference.1.9.5Allmeasurementsintheruleshaveatoleranceof±5%.

2. Robots

2.1Control2.1.1Robotsmustbecontrolledautonomously.Theuseofaremotecontrol,manualcontrol,orpassinginformation(bysensors,cables,wirelessly,etc.)totherobotisnotallowed.2.1.2Robotsmustbestartedmanuallybytheteamcaptain.2.1.3Anypre-mappedtypeofdeadreckoning(movementspredefinedbasedonknownlocationsorplacementoffeaturesinthefield)isprohibited.2.1.4Robotsmustnotdamageanypartofthefieldinanyway.

2.2Construction2.2.1Anyrobotkitorbuildingblocks,eitheravailableonthemarketorbuiltfromrawhardware,maybeusedaslongasthedesignandconstructionoftherobotareprimarilyandsubstantiallytheoriginalworkofthestudents.


2.2.2TeamsarenotpermittedtouseanycommerciallyproducedrobotkitsorsensorscomponentsthatarespecificallydesignedormarketedtocompleteanysinglemajortaskofRoboCupJuniorRescue.Robotsthatdonotcomplywillfaceimmediatedisqualificationfromthetournament.Ifthereisanydoubt,teamsshouldconsulttheTechnicalCommittee(TC)priortothecompetition.2.2.3Forthesafetyofparticipantsandspectators,onlylasersofclass1and2areallowed.Thiswillbecheckedduringinspection.Teamsusinglasersmustbeabletoshowthesensor’sdata/informationsheet.2.2.4BluetoothClass2,3andZigBeecommunicationsaretheonlywirelesscommunicationtypesallowedinRoboCupJunior.RobotsthathaveothertypesofwirelesscommunicationswillneedtoberemovedordisabledtopreventpossibleinterferencewithotherleaguescompetinginRoboCup.Iftherobothasequipmentforotherformsofwirelesscommunication,theteammustprovethattheyhavebeendisabled.Robotsthatdonotcomplymayfaceimmediatedisqualificationfromthetournament.2.2.5Robotsmayincurdamagebyfallingoffthefield,makingcontactwithanotherrobot,ormakingcontactwith

fieldelements.Theorganizingcommitteecannotanticipateallpotentialsituationswheredamagetotherobotmayoccur.Teamsshouldensurethatallactiveelementsonarobotareproperlyprotectedwithresistantmaterials.Forexample,electricalcircuitsmustbeprotectedfromallhumancontactanddirectcontactwithotherrobotsandfieldelements.2.2.6Whenbatteriesaretransportedormoved,itisrecommendedthatsafetybagsbeused.Reasonableeffortsshouldbemadetoensurethatrobotsavoidshortcircuitsandchemicalorairleaks.

2.3Team2.3.1Eachteammusthaveonlyonerobotonthefield.2.3.2Eachteammusthavebetween2and4members.2.3.3Eachteammemberwillneedtoexplaintheirworkandshouldhaveaspecifictechnicalrole.2.3.4Astudentcanberegisteredononlyoneteam.2.3.5Ateamisonlyallowedtoparticipateinoneleague:RescueLineorRescueMaze.

2.3.6AllteammembersmustbethecorrectageasstatedontheRCJwebsite:http://junior.robocup.org/robocupjunior-general-rules/.

2.3.7TeammembersmaycompeteinRescueLinetwice(2internationalevents).AftercompetinginRescueLinetwice,theymustmovetoanotherRoboCupJuniorsubleague.AstudentwillnotbeabletoparticipateintheRoboCupJunior,Sydney2019ifhe/shehasparticipatedinanytwoofthefollowinginternationalcompetitions:RoboCupJunior,Hefei2015RescueLineSecondary,RoboCupJunior,LeipzigRescueLineSecondary,RoboCupJunior,Nagoya2017RescueLineorRoboCupJunior,Montreal2018RescueLine.2.3.8Mentors/parentsarenotallowedtobewiththeteammembersduringthecompetition.Theteammemberswillhavetoself-governthemselves(withoutmentor'ssupervisionorassistance)duringthelongstretchofhoursatthecompetition.

2.4Inspection2.4.1Therobotswillbescrutinizedbyapanelofrefereesbeforethestartofthetournamentandatothertimesduringthecompetitiontoensurethattheymeettheconstraintsdescribedintheserules.2.4.2Itisillegaltousearobotthatisverysimilartoanotherteam’srobotfromapreviousyearorthecurrentyear.2.4.3Itistheresponsibilityoftheteamtohavetheirrobotre-inspected,iftheirrobotismodifiedatanytimeduringthetournament.


2.4.4Studentswillbeaskedtoexplaintheoperationoftheirrobotinordertoverifythatconstructionandprogrammingoftherobotistheirownwork.2.4.5Studentswillbeaskedabouttheirpreparationeffortsandmayberequestedtoanswersurveysandparticipateinvideo-tapedinterviewsforresearchpurposes.2.4.6Allteamsmustcompleteawebformpriortothecompetitiontoallowjudgestobetterpreparefortheinterviews.Instructionsonhowtosubmittheformwillbeprovidedtotheteamspriortothecompetition.2.4.7Allteamshavetosubmittheirsourcecodepriortothecompetition.Thesourcecodewillnotbesharedwithotherteamswithouttheteam’spermission.2.4.8Allteamsmustsubmittheirengineeringjournalpriortothecompetition.Thejournalswillnotbesharedwithotherteamswithouttheteam’spermission.However,itishighlyrecommendedthatteamspubliclysharetheirengineeringjournal.Withtheteamsthatindicatethattheirengineeringjournalscouldbesharedpubliclyduringtheregistrationprocess,thejournalalongsidetheirposterpresentationwillbesharedthroughtheRoboCupJuniorForumsothatotherteamscouldlearnfromthem.

2.5Violations2.5.1Anyviolationsoftheinspectionruleswillpreventtheoffendingrobotfromcompetinguntilmodificationsaremadeandtherobotpassesinspection.2.5.2Modificationsmustbemadewithinthetimescheduleofthetournamentandteamscannotdelaytournamentplaywhilemakingmodifications.2.5.3Ifarobotfailstomeetallspecifications(evenwithmodifications),itwillbedisqualifiedfromthatround(butnotfromthetournament).2.5.4Nomentorassistanceisallowedduringthecompetition.(See6.CodeofConduct.)2.5.5Anyviolationsoftherulesmaybepenalizedbydisqualificationfromthetournamentortheroundormayresultinalossofpointsatthediscretionofthereferees,officials,organizingcommitteeorgeneralchairs.

3. Play

3.1Pre-roundPractice3.1.1Whenpossible,teamswillhaveaccesstopracticefieldsforcalibrationandtestingthroughoutthecompetition.3.1.2Whenevertherearededicatedindependentfieldsforcompetitionandpractice,itisattheorganizers’discretioniftestingisallowedonthecompetitionfields.

3.2Humans3.2.1Teamsshoulddesignateoneoftheirmembersas“captain”andanotheroneas“co-captain.”Onlythesetwoteammemberswillbeallowedaccesstothecompetitionfields,unlessotherwisedirectedbyareferee.Onlythecaptainwillbeallowedtointeractwiththerobotduringascoringrun.3.2.2Thecaptaincanmovetherobotonlywhentheyaretoldtodosobyareferee.3.2.3Otherteammembers(andanyspectators)withinthevicinityoftherescuefieldhavetostandatleast150cmawayfromthefieldwhiletheirrobotisactive,unlessotherwisedirectedbyareferee.3.2.4Nooneisallowedtotouchthefieldsintentionallyduringascoringrun.


3.3StartofPlay3.3.1Arunbeginsatthescheduledstartingtimewhetherornottheteamispresentorready.Starttimeswillbepostedaroundthevenue.3.3.2Beforethescoringrunbegins,theteamdefineswhichevacuationpointtileshouldbeused(see1.7.4).3.3.3Thecheckpointmarkerisamarkerthatindicatesforhumanswhichtilesarecheckpoints.Itcanbe5mmto12mmthickandupto70mmindiameter.Thenumberofpossiblecheckpointswilldependonthelengthofthecourse.3.3.4Beforethescoringrunstarts,theteamcaptainwilldecidewhichtilesshouldbecheckpointsandplacethe

markersonthosetiles.3.3.5Onlyonecheckpointmarkermaybeplacedonatile.Checkpointmarkersmaynotbeplacedontileswithscoringelements.Oncethescoringrunhasbegun(see3.3.11),themarkerscannotbechanged.Note:Ifarobotmovesamarker,itisstilltheoriginaltilethatisthecheckpoint.Themarkerisonlythereforhumanstorememberwherethecheckpointsarelocated.3.3.6Thestarttileisacheckpoint,wheretherobotcanrestart.Theteamcan'tuseoneoftheircheckpointmarkersforthestarttile.3.3.7Oncethescoringrunhasbegun,therobotisnotpermittedtoleavethecompetitionarea.3.3.8Eachteamwillbegivenamaximumtimeof8minutestocalibratethesensors,selectthecheckpointsandlettherobotcompletethecourse.Thetimeforeachrunwillbekeptbythereferee.3.3.9Calibrationisdefinedastakingsensorreadingsandmodifyingtherobot'sprogrammingtoaccommodatesuchsensorreadings.Anyandallpre-mappingactivitieswillresultinimmediatedisqualificationoftherobotfortheround.3.3.10Teamsmaycalibratetheirrobotinasmanylocationsasdesiredonthefield,buttheclockwillcontinuetorun.Robotsarenotpermittedtomoveontheirownwhilecalibrating.3.3.11Onceateamisreadytostartascoringrun,theymustnotifythereferee.Tobeginascoringrun,therobotisplacedonthestartingtileofthecourseasindicatedbythereferee.Onceascoringrunhasbegun,nomorecalibrationispermitted,thisincludeschangingofcode/codeselection.3.3.12Oncearobotbeginsitsscoringrun,therefereewillrollastandard6-sideddicetodetermineinwhichcornertheevacuationpointwillbelocated.3.3.13Obstaclesmayberemoved,addedorchangedjustbeforearunstartstopreventteamsfrompre-mappingthelayoutofthefields.3.3.14Individualtilesmaybechangedorswitchedjustbeforearunstartstopreventteamsfrompre-mappingthelayoutofthefields.Thismayhappenonthebasisofadierolledbytherefereeorwithanothermethodof

randomizationannouncedbytheorganizers.3.3.15Thedifficultyoftherunandtheamountofpointsthatcanbereachedwillbethesameorusuallythesameforeveryteaminagivenroundonaparticularfield.

3.4GamePlay

3.4.1Robotswillstartbehindthejointinbetweenthestarttileandthenexttilealongthecoursetowardsthe

evacuationzone.Correctplacementwillbecheckedbythereferee.

3.4.2Modifyingtherobotduringascoringrunisprohibited,whichincludesremountingpartsthathavefallenoff.

3.4.3Anypartsthattherobotlosesintentionallyorunintentionallywillbeleftinthefielduntiltherunisover.Team

membersandjudgesarenotallowedtoremovepartsfromthefieldduringarun.


3.4.4Teamsarenotallowedtogivetheirrobotanyadvanceinformationaboutthefield.Arobotissupposedto

recognizethefieldelementsbyitself.

3.4.5Therobotmustfollowthecoursecompletelytoentertheevacuationzone.

3.4.6Therobothasvisitedatilewhenmorethanhalftherobotiswithinthattilewhenviewedfromabove.

3.5Scoring

3.5.1Arobotisawardedpointsforsuccessfullynavigatingeachhazard(gapsintheline,speedbumps,intersections,deadends,ramps,andobstacles).3.5.2Failedattemptsatnavigatinghazardsinthefieldaredefinedasa“LackofProgress”(see3.6).3.5.3Whenarobotreachesacheckpointtileitwillearnpointsforeachtileithaspassedsincethepreviouscheckpoint.Thepointspertiledependonhowmanyattemptstherobothasmadetoreachthecheckpoint:

• 1stattempt=5points/tile• 2ndattempt=3points/tile

• 3rdattempt=1points/tile• Beyondthe3rdattempt=0points/tile

3.5.4Arobotisawardedpointsforsuccessfullynavigatingthrougharamp(5pointsperramp).Successfully


navigatingmeansthattherobotreachedthetop/bottomtileoftherampfromtheinclinedtileautonomously.

3.5.5Ifintersectionsordeadendsareusedonthefield,thepathmaygointheoppositedirectionthroughthecourse

(goingbacktothepaththatarobothasalreadytaken).

3.5.6Pointsareawardedforsuccessfullynavigatingeachgapintheblacklineintheintendedpathofthecourse(10

pointspergap).Pointsareawardedwhenrobothassuccessfullyreachedthelineafterthegap(i.e.:morethanhalf

therobotisonthelineafterthegapwhenviewedfromabove.

3.5.7Pointsareawardedforsuccessfullynavigatinganobstacle.(10pointsperobstacle).Pointsareawardedwhen

therobothassuccessfullyreachedthesubsequenttileandhasreacquiredthelineintheintendeddirection.

3.5.8Pointsareawardedforsuccessfullynavigatingaspeedbumpintheintendedpathofthecourse(5pointsper

speedbump).Pointsareawardedwhentherobothastraversedthespeedbumpandnopartoftherobotisin

contactwiththespeedbumpwhenviewedfromabove.Arobotissaidtobetraversingaspeedbumpifmorethan

halftherobotisonthespeedbump.Pointsareonlyawardedtospeedbumpsthatareontheline.Forspeedbumps

onthegap,iftherewasastraightlineinsteadofagapandthespeedbumpisonthatimaginaryline,pointsare

awarded.

3.5.9Pointsareawardedforsuccessfullynavigatinganintersection(15pointsperintersection)whenarobothas

reachedthesubsequenttileandistracingthelineinthecorrectsequence.

3.5.10Pointsareawardedforsuccessfullynavigatingadeadend.(15pointsperdeadend)whenarobothasreached

thesubsequenttileandistracingthelineinthecorrectsequence.

3.5.11Eachgap,speedbump,intersection,deadendandobstaclecanonlybescoredonceperintendeddirection

throughthecourse.Pointsarenotawardedforsubsequentattemptsthroughthecourse.

3.5.12Successfulvictimrescue:Robotsareawardedpointsforsuccessfullyrescuingvictims.Asuccessfulvictim

rescueoccurswhenthevictimismovedtotheevacuationpoint.Thevictimneedstobecompletelyinsideofthe

evacuationpoint,andnopartoftherobotcanbeincontactwiththevictim).Whenthejudgedeterminestherehas

beenasuccessfulvictimrescue,thevictimwillberemovedfromtheevacuationzonetoallowmorevictimstobe

evacuated.Theamountofpointsawardeddependsontheevacuationpointtilechosenbytheteam:

• Levelone:30pointspersuccessfulrescueofalivingvictim,20pointspersuccessfulrescueofadead

victimifalllivevictimsarerescued.Ifnot,deadvictimsare5pointseach.• Leveltwo:40pointspersuccessfulrescueofalivingvictim,30pointspersuccessfulrescueofadead

victimifalllivevictimsarerescued.Ifnot,deadvictimsare5pointseach.

Fullpoints(20pointsforlevelone/30pointsforleveltwo)foradeadvictimwillonlybeawardedafterALLofthelive

victimshavefirstbeenrescued.Ifadeadvictimwasmovedintotheevacuationzonebeforeallthelivevictimswere

rescued,only5pointswillbeawarded.

3.5.13Tiesinscoringwillberesolvedbasedonthetimetakenbyeachrobot(orteamofrobots)tocompletethe

course(thisincludescalibrationtimeandcheckpointelection).

3.5.14Pointsareawardedforsuccessfullydrivingoutoftheevacuationzoneafteratleastonesuccessfulvictim

rescueorarobottouchingavictim(20pointsforfindingthelineagainafterdrivingoutoftheevacuationzone).For

thesepointstoberewarded,therobotmustreachthethirdtilewithhalfoftherobotonthetileafteranevacuation

zone.Anycheckpointinthelastthreetileswillnotbecountedasacheckpointtilewhenmovingoutofthe

evacuationzone,howeveranyscoringelementswillbeaccountedfor.

3.5.15Whenalackofprogressoccursafterthefinalcheckpointmarker,5pointswillbedeductedfromeachvictim

rescued(howeverpointswillnotbeanegativenumber).

3.5.16Anyhazardsthatareintheevacuationzonewillnotbecountedtowardsadditionalpoints.


3.6Lackofprogress

3.6.1Alackofprogressoccurswhen:

a) ateamcaptaindeclaresaLackofProgress.b) arobotlosestheblacklinewithoutregainingitbythenexttileinthesequence(seefiguresafter3.6.7).c) arobotreachesalinethatisnotintheintendedsequence.

*“sequence”isnotincludingdiagonalsequence

3.6.2Ifalackofprogressoccurs,therobotmustbepositionedonthepreviouscheckpointtilefacingthepathtowardstheevacuationzoneandcheckedbythereferee.3.6.3Afteralackofprogress,theteammayresetthepowersupply(turntherobotoffandon)andsubsequentlyrestarttheprogram.Theteamisnotallowedtochangetheprogram,giveanyinformationaboutthefieldtotherobot,orrepairtherobot.Teamsmustnotifythejudgepriortotheirrunwhatprocedurewillbeperformedwhenalackofprogressoccurs;teamsmuststicktothismethodregardlessofthesituation.

3.6.4Thereisnolimittothenumberofrestartswithinaround.3.6.5Afterthethreefailedattemptstoreachacheckpoint,arobotisallowedtoproceedtothenextcheckpoint.3.6.6Theteamcaptainmaychoosetomakefurtherattemptsatthecoursetoearntheadditionalpointsavailablefornavigatingobstacles,gapsintheline,deadends,intersectionsandspeedbumpsthathavenotalreadybeenearnedbeforereachingthecheckpoint.

3.6.7Ifalackofprogressoccursintheevacuationzone,allvictims(includingonesthathaverolled)willremainin

theircurrentposition.Victimsthatareheldbytherobotwillbeplacedroughlyonthelocationoftherobotwhenthe

lackofprogressoccurred.Ifalackofprogressoccursastherobotexitstheevacuationroomwhilstcarryingvictims,

thevictimswillberandomlyplacedintheevacuationzone.

Lackofprogress


3.7VictimPlacement

3.7.1Thevictimswillbelocatedinarandommannerintheevacuationzone.ThenumberofvictimswillbedecidedbytheOrganizingCommittee.

3.8EvacuationPointPlacement3.8.1Theevacuationpointcanbeplacedinanyofthenon-entrycornersintheevacuationzone.3.8.2AfteraLackofProgress,therefereemayrollthediceagainandplacetheevacuationpointinanewcorner.3.8.3Theevacuationpointwillbefixedtothefloor,butteamsshouldbepreparedforslightmovementsintheevacuationpoint.

3.9EndofPlay3.9.1Ateammayelecttostoptheroundearlyatanytime.Inthiscase,theteamcaptainmustindicatetotherefereetheteam'sdesiretoterminatetherun.Theteamwillbeawardedallpointsearneduptothecallfortheendoftheround.3.9.2Theroundendswhen:

a) thetimeexpires;b) ateamcaptaincallstheendoftheround;orc) arobotleavestheevacuationzoneandreachesaline(see3.5.14).

4. OpenTechnicalEvaluation

4.1Description4.1.1Yourtechnicalinnovationwillbeevaluatedduringadedicatedtimeframe.Allteamsneedtoprepareforanopendisplayduringthistimeframe.4.1.2Judgeswillcirculateandinteractwiththeteams.TheOpenTechnicalEvaluationisintendedtobeacasualconversationwitha"questionandanswer"atmosphere.4.1.3ThemainobjectiveoftheOpenTechnicalEvaluationistoemphasizetheingenuityofinnovation.Beinginnovativemaymeantechnicaladvancesascomparedtotheexistingknowledge,oranout-of-the-ordinary,simplebutclever,solutiontoexistingtasks.

4.2EvaluationAspects4.2.1Astandardizedrubricsystemwillbeusedfocusingon:

a) creativityb) clevernessc) simplicity


d) functionality

4.2.2Your“work"caninclude(butisnotlimitedto)oneofthefollowingaspects:a) creationofyourownsensorinsteadofapre-builtsensorb) creationofa"sensormodule"whichiscomprisedofvariouselectronicsresultinginaself-containedmodule

toprovideacertainfunctionalityc) creationofamechanicalinventionwhichisfunctional,butoutoftheordinaryd) creationofanewsoftwarealgorithmtoasolution

4.2.3Teamsmustprovidedocumentsthatexplaintheirwork.Eachinventionmustbesupportedbyconcisebutcleardocumentation.Thedocumentsmustshowprecisestepstowardsthecreationoftheinvention.

4.2.4Documentsmustincludeoneposterandoneengineeringjournal(seetheEngineeringJournalTemplateonofficialRCJwebsiteformoredetails).Teamsshouldbepreparedtoexplaintheirwork.4.2.5EngineeringJournalsshoulddemonstrateyourbestpracticesinthedevelopmentprocess.4.2.6Thepostershouldincludenameofteam,country,league,robotdescription,robotcapabilities,controllerandprogramminglanguageused,sensorsincluded,methodofconstruction,timeusedfordevelopment,costofmaterialsandawardswonbytheteaminitscountry,etc.4.2.7GuidelinesmaybeprovidedattheofficialRCJwebsiteunderRescuerules(EngineeringJournalTemplate).

4.3Sharing4.3.1Teamsareencouragedtoreviewother'spostersandpresentations.4.3.2TeamsawardedwithcertificatesarerequiredtoposttheirdocumentsandpresentationonlinewhenaskedbytheOC/TC.

5. ConflictResolution

5.1RefereeandRefereeAssistant5.1.1Alldecisionsduringgameplayaremadebytherefereeortherefereeassistant,whoareinchargeofthefield,personsandobjectssurroundingthem.5.1.2Duringgameplay,thedecisionsmadebytherefereeand/ortherefereeassistantarefinal.5.1.3Atconclusionofgameplay,therefereewillaskthecaptaintosignthescoresheet.Captainswillbegivenamaximumof1minutetoreviewthescoresheetandsignit.Bysigningthescoresheet,thecaptainacceptsthefinalscoreonbehalfoftheentireteam.Incaseoffurtherclarification,theteamcaptainshouldwritetheircommentsonthescoresheetandsignit.

5.2RuleClarification5.2.1Ifanyruleclarificationisneeded,pleasecontacttheInternationalRoboCupJuniorRescueTechnicalCommittee.5.2.2Ifnecessary,evenduringatournament,aruleclarificationmaybemadebymembersoftheRoboCupJuniorRescueTechnicalCommittee(TC)andOrganizingCommittee(OC).


5.3SpecialCircumstances5.3.1Ifspecialcircumstances,suchasunforeseenproblemsorcapabilitiesofarobotoccur,rulesmaybemodifiedbytheRoboCupJuniorRescueOrganizingCommitteeChairinconjunctionwithavailableTechnicalCommitteeandOrganizingCommitteemembers,evenduringatournament.5.3.2Ifanyoftheteamcaptains/mentorsdonotshowuptotheteammeetingstodiscusstheproblemsandtheresultingrulemodificationsdescribedat5.3.1,itwillbeconsideredasanagreement.

6. CodeofConduct

6.1Spirit6.1.1Itisexpectedthatallparticipants(studentsandmentorsalike)willrespecttheaimsandidealsofRoboCupJuniorassetoutinourmissionstatement.6.1.2Thevolunteers,refereesandofficialswillactwithinthespiritoftheeventtoensurethecompetitioniscompetitive,fairand,mostimportantly,fun.6.1.3Itisnotwhetheryouwinorlose,buthowmuchyoulearnthatcounts!

6.2FairPlay6.2.1Robotsthatcausedeliberateorrepeateddamagetothefieldwillbedisqualified.6.2.2Humansthatcausedeliberateinterferencewithrobotsordamagetothefieldwillbedisqualified.6.2.3Itisexpectedthattheaimofallteamsistoparticipatefairly.

6.3Behavior6.3.1EachteamisresponsibleforverifyingthelatestversionoftherulesontheRoboCupJuniorOfficialwebsitepriortothecompetition.6.3.2Participantsshouldbemindfulofotherpeopleandtheirrobotswhenmovingaroundthetournamentvenue.6.3.3Participantsarenotallowedtoentersetupareasofotherleaguesorotherteams,unlessexplicitlyinvitedtodosobyteammembers.6.3.4Teamswillberesponsibleforcheckingupdatedinformation(schedules,meetings,announcements,etc.)duringtheevent.Updatedinformationwillbeprovidedonnoticeboardsinthevenueand(ifpossible)onthelocalcompetitionwebsiteand/ortheRoboCuporRoboCupJuniorwebsites.6.3.5Participantswhomisbehavemaybeaskedtoleavethevenueandriskbeingdisqualifiedfromthetournament.6.3.6Theseruleswillbeenforcedatthediscretionofthereferees,officials,tournamentorganizersandlocallawenforcementauthorities.

6.3.7Teamsareexpectedtobepresentatthevenueearlyonthesetupdayasimportantactivitieswilloccur.Theseactivitiesinclude,butarenotlimitedto:registration,participationraffle,interviews,captainsandmentor’smeetings.

6.4Mentors


6.4.1Adults(mentors,teachers,parents,chaperones,translatorsandotheradultteammembers)arenotallowedinthestudentworkarea.6.4.2Sufficientseatingwillbesuppliedformentorstoremaininasupervisorycapacityclosetothestudentworkarea.6.4.3Mentorsarenotpermittedtobuild,repairorbeinvolvedinprogrammingoftheirteam’srobotsbothbeforeandduringthecompetition.6.4.4Mentorinterferencewithrobotsorrefereedecisionswillresultinawarninginthefirstinstance.Ifthisrecurs,theteamwillriskbeingdisqualified.6.4.5Robotshavetobemainlystudents'ownwork.Anyrobotthatappearstobeidenticaltoanotherrobotmaybepromptedforre-inspection.

6.5EthicsandIntegrity6.5.1Fraudandmisconductarenotcondoned.Fraudulentactsmayincludethefollowing:

a) Mentorsworkingonthesoftwareorhardwareofstudents’robot(s)duringthecompetition.b) Moreexperienced/advancedgroupsofstudentsmayprovideadvicebutshouldnotdotheworkforother

groups.Otherwise,theteamrisksbeingdisqualified.

6.5.2RoboCupJuniorreservestherighttorevokeanawardiffraudulentbehaviorcanbeprovenaftertheawardceremonytakesplace.

6.5.3Ifitisclearthatamentorintentionallyviolatesthecodeofconduct,andrepeatedlymodifiesandworksonthestudents'robot(s)duringthecompetition,thementorwillbebannedfromfutureparticipationinRoboCupJuniorcompetitions.6.5.4Teamsthatviolatethecodeofconductcanbedisqualifiedfromthetournament.Itisalsopossibletodisqualifyasingleteammemberfromfurtherparticipationinthetournament.6.5.5Inlessseverecasesofviolationsofthecodeofconduct,ateamwillbegivenawarning.Insevereorrepeatedcasesofviolationsofthecodeofconduct,ateamcanbedisqualifiedimmediatelywithoutawarning.

6.6Sharing6.6.1ThespiritofworldRoboCupcompetitionsisthatanytechnologicalandcurriculardevelopmentsshouldbesharedwithotherparticipantsafterthetournament.6.6.2AnydevelopmentsmaybepublishedontheRoboCupJuniorwebsiteaftertheevent.6.6.3Participantsarestronglyencouragedtoaskquestionstotheirfellowcompetitorstofosteracultureofcuriosityandexplorationinthefieldsofscienceandtechnology.6.6.4ThisfurthersthemissionofRoboCupJuniorasaneducationalinitiative.