RoboCupJunior 2004 RESCUE Rules

Last updated: Wed 31 Dec 2003 (Sklar and Green)

The RoboCupJunior RESCUE is modeled after the RoboCup Senior League Rescue and the AAAI Rescue competition, designed by NIST (see http://www.isd.mel.nist.gov/projects/USAR/).	For RoboCupJunior, this translates into a scaled-down, modular arena, something like this:

1. Arena.

1.1.

Description:
The arena is modular. Each module can be thought of as a "room" in a building. Modules may be placed adjacent to each other (on the same level horizontally) or may be stacked vertically. Modules on the same level are connected by level hallways. Modules on different levels are connected by sloping hallways or ramps.
Building plans are located here.

1.2.

Size:
Each module is 48 inches by 36 inches in size (approximately 122 cm by 91 cm) with walls that are 11 inches high (approximately 28 cm).

1.3.

Doorways:
Each room will have 2 doorways in standard locations (see building plans). Robots will enter through one doorway and exit through the other.

1.4.

Floor:
The floor of each room will be a light color (white, or close to white). The floor may be either flat or slightly textured (like linoleum or very low pile carpet). The arena should be placed so that the floors are flat and level.

1.5.

Line:
On the floor, there will be a black line for the robots to follow. The black line will be made with standard electrical (insulation) tape, 1 - 2 cm wide. The black line traces a maze on the floor. It may have 90 degree turns in it, turns of other angles or curves. The line will never cross itself. The line will never come closer than 4 inches (approximately 10 cm) to a wall or another line.

1.6.

Connectivity:
The black line will enter and exit each room through the standard doorways. The line will continue along the hallways and ramps so that it creates a single circuit through all the modules in the arena.

1.7.

Debris:
"Debris" may be located throughout the room, but will not interfere with the black line.

1.8.

Victims:
"Victims" will be located in random positions throughout the course. Two types of victims may be present:

1. victims constructed out of green tape or
2. victims constructed out of aluminized tape or aluminum foil.

The victims will be adhered flat across the black line. The reflectances (to red light) of the silver bodies, white (or close to white) floor, green bodies and black line will be well separated, with the following gradation: silver bodies (brightest) > floor > green bodies > black line (darkest).

1.9.

Lighting:
Teams must come prepared to calibrate their robots based on the lighting conditions at the venue. Every effort will be made to keep ambient light at a low level with infra-red (IR) radiation from incandescent lamps and natural lighting minimized.

1.10.

Magnetic conditions:
Every effort will be made by the organizers to locate the rescue arena away from magnetic fields such as underfloor wiring and metallic objects. However, sometimes this cannot be avoided.

2. Robots.

2.1.

Diameter:
The upright robot must fit inside an upright 22 cm diameter cylinder. Robots will be measured with all parts fully extended.

2.2.

Height:
The robot height must not exceed 22 cm.

2.3.

Control:
Robots must be controlled autonomously. Robots must be started manually by humans. The use of remote control of any kind is not allowed.

2.4.

Team:
A team shall consist of one and only one (1) robot.

2.5.

Construction:
Any robot kit or building blocks may be used, as long as the robot fits the above specifications and as long as the design and construction are primarily and substantially the original work of the student(s) (see section below).
Construction from raw electronic and hardware components is also allowed, as long as the robot fits the above specifications and as long as the design and construction are primarily and substantially the original work of the student(s) (see section below).
Robot pieces may be permanently attached with glue, screws, etc.

2.6.

Programming:
The programming of the robot should allow a 4-second time delay from starting the program to when the robot moves.

3. Inspection.

3.1.

Schedule:
The robots will be examined by a panel of referees before the start of the tournament to ensure that they meet the constraints described above.
It is the responsibility of teams to have their robots re-inspected if their robots are modified at any time during the tournament.

3.2.

Robot configuration:
While being inspected, each robot must be upright and at its maximum size; i.e. anything that protrudes from the robot must be fully extended.

3.3.

Students:
Students will be asked to explain the operation of their robot in order to verify that the construction and the programming of the robot are their own work.
Students will be asked questions about their preparation efforts, and they may be requested to answer surveys and participate in video-taped interviews for research purposes.
Commercial kits may be used but must be substantially modified by the students.
Robots must be predominantly constructed and programmed by the students.

3.4.

Violations:
Any violations of the inspection rules will prevent that robot competing until modifications are effected.
However, modifications must be made within the time schedule of the tournament and teams must not delay tournament play while making modifications.
If a robot fails to meet all specifications (even with modification), the robot will be disqualified from that round (but not from the tournament).
If there is excessive mentor assistance or the work on the robots is not substantially original work by the students, then the team will be disqualified from the tournament.

4. Play.

4.1.

Pre-round setup:
Organizers will make every effort to provide the teams access to the competition area at least two hours before the start of the competition.
Organizers will make every effort to allow at least 10 minutes of setup time before each round.
Participants should be aware, however, that situations may arise where these conditions cannot be met; and so participants should arrive prepared to cope under conditions that are less than ideal.

4.2.

Length of round:
Robots will be given a maximum time of 10 minutes to complete the course.
The time for each round will be kept by the referee.

4.3.

Start of play:
To begin, the robot is placed by the referee at its starting location in the doorway at the beginning of the black line.
Teams that are late for their starting time will forfeit the round.

4.4.

Humans:
In general, movement of robots by humans is not acceptable.
Humans can only move robots when told to do so by the referee.
Before the start of each round, teams should designate one human who will act as "Captain", and be allowed to start the robot, based on the stated rules and as directed by the referee.
Other team members within the vicinity of the rescue arena are to remain seated while the robot is active, unless otherwise directed by the referee.

4.5.

Objective:
The robots have to follow the black line and attempt to complete the circuit through the entire field.
Robots are rewarded for successfully entering a room through one doorway and exiting through the other doorway.
Robots are also rewarded for locating "victims" on the course.

4.6.

Scoring:
Robots will be scored based on time to complete the circuit and on points (described in section below).

4.7.

Lack of progress:
Lack of progress occurs if a robot is stuck in the same place for at least 20 seconds.
In case of lack of progress, the referee may pick up the robot and move it to a nearby point on the black line for it to attempt to complete the course.
The referee will not turn off the robot to restart its program.
A team may elect to stop the round early if the lack of progress is caused by a faulty robot. In this case, the team captain must indicate to the referee the team's desire to terminate. The team will be awarded all points achieved thus far.

5. Scoring.

5.1.

Rooms:
Ten (10) points are awarded for each room that the robot navigates successfully (i.e. enters through one doorway and exits through the other doorway).

5.2.

Victims:
Ten (10) points are awarded for each victim located by the robot. The robot indicates that it has found a victim by stopping, beeping and flashing a lamp for at least four (4) seconds.

6. Conflict Resolution.

6.1.

Referee:
During game play, the referee's decisions are final.

6.2.

Rule clarification:
Rule clarification may be made by members of the RoboCupJunior International Technical Committee.

6.3.

Special Circumstances:
Specific modifications to the rules to allow for special circumstances, such as unforeseen problems and/or capabilities of a team's robot, may be agreed to at the time of the tournament, provided a majority of the contestants agree.

7. Documentation.

7.1.

Reporting:
All teams must bring written documentation describing their preparation efforts.

7.2.

Poster:
Teams will be given public space (approximately 100 cm by 200 cm) to display their materials on a poster board.

7.3.

Presentation:
Officials will review the documentation and discuss the contents with team members. A prize will be awarded to teams with outstanding presentations.

7.4.

Sharing:
Teams are encouraged to view one another's posters.

8. Code of Conduct.

8.1.

Fair Play:
Robots that cause deliberate damage to the field will be disqualified.
Humans that cause deliberate interference with robots or damage to the field will be disqualified.
It is expected that the aim of all teams is to participate fairly.

8.2.

Behavior:
All movement and behavior are to be of a subdued nature within the tournament venue.
Competitors are not to enter setup areas of other leagues or other teams, unless expressly invited to do so by team members.
Participants who misbehave may be asked to leave the building and risk being disqualified from the tournament.
These rules will be enforced at the discretion of the referees, officials, conference organizers and local law enforcement authorities.

8.3.

Mentors:
Mentors (teachers, parents, chaperones and other adult team-members) are not allowed in the student work area.
Sufficient seating will be supplied for Mentors to remain in a supervisory capacity around the student work area.
Mentors are not to repair robots or be involved in programming of students’ robots.
Mentor interference with robots or referee decisions will result in a warning in the first instance. If this recurs, the team will risk being disqualified.

8.4.

Sharing:
An understanding that has been a part of world RoboCup Competitions is that any technological and curricular developments should be shared with other participants after the competition.
Any developments may be published on the RoboCupJunior website after the event.
This furthers the mission of RoboCupJunior as an educational initiative.

8.5.

Spirit:
It is expected that all participants, Students and Mentors alike, will respect the RoboCupJunior mission.
The referees and officials will act within the spirit of the event.
It is not whether you win or lose, but how much you learn that counts!