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Aldebaran Nao

RoboCup 2003 Legged League Challenges

RoboCup 2003 Organizing Committee

June 4, 2003

Challenges

General

Challenge 1: Playing with a Black and White Ball

Time Limit

3 minutes

Purpose

To evaluate ability to score using a black and white ball. In the future, the ball will be changed to look like a regular soccer ball. The purpose of this challenge is to evaluate the abilities of teams to find and score using a black and white soccer ball.

Summary

The robot must score into the yellow goal using a black and white soccer ball.

Rules

Initial Position: The initial position and orientation of the challenge robot will be randomly determined. The initial position of the ball will be randomly determined. All teams will use the same initial positions.

Goal: To score on the yellow goal using a black and white soccer ball on an otherwise empty field.

Procedures:

Scoring:

Teams will be ranked based upon the following decision tree:

Figure 1. The challenger and a possible position of the black and white ball.

Challenge 2: Localization without the Colored Landmarks

Time Limit

3 minutes

Purpose

To evaluate localization ability in the absence of explicit markers. In the future, the colored markers will be removed. The purpose of this challenge is to evaluate the abilities of teams to localize in this kind of environment.

Summary

The robot must navigate to 5 points on the field that will be selected at random. At each point, the robot must stop and wag its tail.

Rules

Initial Position: The initial position and orientation of the challenge robot will be randomly determined. The position of the 5 target points will be selected at random.

Goal: To visit each of 5 pre-selected random points on the field and stop and wag the tail at each point. The points may be visited in any order.

Procedures:

Scoring:

When the robot shakes its tail, the referee will determine the smallest circle that is still under the central body of the robot (i.e. the "core"). The team scores 3 points for stopping over the 5cm circle, 2 points for the 10cm circle, and 1 point for the 15cm circle. In the case of a tie, the order of the teams will be decided based upon time. The time for a team is the time at which they last scored. So it is more important to reach the target positions precisely than to be fast.

Figure 2. The challenger and the five target positions given in the example file.

Challenge 3: Obstacle Avoidance

Time Limit

3 minutes

Purpose

To evaluate obstacle avoidance ability. In the future, the robots will be expected to avoid unnecessary collisions with other robots.

Summary

The robot must navigate from one goal box to the other while avoiding robots that are standing still in unknown locations.

Rules

Initial position: The challenge robot will wear a blue uniform and start in the blue goal box facing the yellow goal. Seven obstacle robots (4 red and 3 blue) will be positioned at random locations on the field outside the goal boxes. They will use the typical UNSW standing position used by many teams in the league. It is only guaranteed that there is a path to the goal that is never narrower than 30 cm.

Goal: The task of the robot is to reach the yellow goal with as few contacts to other robots as possible. "Reaching" means to have at least two feet in the yellow goal area.

Procedures:

Scoring:

The teams score by the following criteria:

For example if the robot reached Zone E (5 points), and it had two collisions (-2 points), it will score 3 points. If a robot enters the yellow goal without any collisions, it will score 6 points.

Figure 3. A typical obstacle avoidance scenario. The challenger is the robot on the left.