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RCAP CoSpace Logistics Rules 2018 (1 June 2018) Page 1

RCAP CoSpace Logistics Rules 2018 These are the official rules for the RoboCup Asia Pacific (RCAP) 2018 CoSpace Logistics Challenge

released by the RoboCup Asia Pacific CoSpace Logistics Technical Committee. English rules have

priority over any other translations. Changes from the 2017 rules are highlighted in red.

PREFACE

The RCAP CoSpace Logistics Challenge is a new competition that targets the use of robots in work-

related scenarios and smart factories for students under 12 years old (U12 age group) and under 19

years old (U19 age group). It aims to provide a low-cost application tool for students to develop

innovative robotics and AI solutions that are needed to further enhance production towards Industry

4.0.

The RCAP CoSpace Logistics Challenge is conducted in a co-existing real-virtual space. In the real world,

the challenge utilizes ideas and concepts from RoboCup@Work. The work-related scenarios targeted

by the CoSpace Logistics Challenge are, loading and unloading of objects, picking and storing of various

items, delivery of items to/from structured storages, planning and scheduling of production process,

and co-operative transportation of goods.

In the virtual world, the challenge focuses on the production aspects in smart factories. In smart

factories, the manufacturing steps are considered as services that can be combined efficiently in

(almost) arbitrary ways to facilitate the cost-effective production of various product types and variants,

even in small lot sizes. This is significantly different from traditional manufacturing, which tends to

produce only a small number of product types at high quantities. As such, smart factories will require

a more capable logistics system, of which the most flexible form is equipped with autonomous mobile

robots.

In the CoSpace Logistics Challenge, teams are required to program a real mobile robot, a virtual mobile

robot, and a robotic arm. The challenge begins in the real world whereby a real mobile robot navigates

in the real world and works together with a robot arm to load and unload the coloured objects. The

collected objects will then be teleported to the virtual world. The team virtual robot will continue to

make products using virtual and teleported objects in the virtual smart factory.

The RCAP CoSpace Logistics Simulator is the only official platform for the CoSpace Logistics Challenge.

This simulator allows programs to be developed using a graphical programming interface or C

language. Participating teams can contact [email protected] for RCAP CoSpace Logistics

Simulator download, help and assistance.


Figure 1: CoSpace Logistics Challenge

Real World Challenge

Virtual World Challenge (U12)

Virtual World Challenge (U19)


Contents

Introduction ............................................................................................. Error! Bookmark not defined.

CHAPTER 1: GENERAL RULES .................................................................................................................. 5

1. Team ............................................................................................................................................... 5

1.1. Team Members ....................................................................................................................... 5

1.2. Team Captain .......................................................................................................................... 5

2. CoSpace Logistic Game Description ................................................................................................ 5

2.1 REAL_WORLD Challenge (Basic Transportation Test, BTT) ..................................................... 6

2.2 Teleportation (Transition from REAL to VIRTUAL) .................................................................. 6

2.3 VIRTUAL_WORLD Challenge (Smart Factory Challenge SFC) .................................................. 6

3. Referee ............................................................................................................................................ 7

3.1 Official ..................................................................................................................................... 7

3.2 Referee Box (REF_STAT and REF_TELE) .................................................................................. 7

4. Human Interference ........................................................................................................................ 7

5. Penalty ............................................................................................................................................ 7

6. Interruption of Game ...................................................................................................................... 7

7. Conflict Resolution .......................................................................................................................... 8

7.1 Referee .................................................................................................................................... 8

7.3 Special Circumstances ............................................................................................................. 8

7.4 Complaint Procedure .............................................................................................................. 8

8. Documentation ............................................................................................................................... 9

8.1 Learning Journal ...................................................................................................................... 9

8.2 Poster ...................................................................................................................................... 9

9. Code of Conduct.............................................................................................................................. 9

9.1 Fair Play ................................................................................................................................... 9

9.2 Behaviour ................................................................................................................................ 9

9.3 Sharing .................................................................................................................................. 10

9.4 Spirit ...................................................................................................................................... 10

CHAPTER 2: ROBOTS AND COMMUNICATION ...................................................................................... 10

10. ROBOT Structure and Configuration ......................................................................................... 10

10.1 REAL_ROBOT Configuration .................................................................................................. 10

10.2 REAL_ROBOT Control ............................................................................................................ 11

10.3 ROBOT_ARM ......................................................................................................................... 11

10.4 VIRTUAL_ROBOT ................................................................................................................... 11

10.5 Communication and Teleportation ....................................................................................... 12


CHAPTER 3: FIELD SETUP ...................................................................................................................... 12

11. REAL_WORLD Setup .................................................................................................................. 12

11.1 Field Dimension..................................................................................................................... 12

11.2 Field Layout ........................................................................................................................... 12

11.3 Environmental Conditions .................................................................................................... 15

12. VIRTUAL_WORLD Setup ............................................................................................................ 16

12.1 Layout and Dimensions ......................................................................................................... 16

CHAPTER 4: GRAND CHALLENGE .......................................................................................................... 17

13. Procedure .................................................................................................................................. 17

13.1 Release of Task ...................................................................................................................... 17

13.2 Submission of AI .................................................................................................................... 17

13.3 Start of Play ........................................................................................................................... 17

14. REAL_WORLD Challenge (Basic Transportation Test, BTT) ................................................... 17

14.1 BTT Task ................................................................................................................................ 17

14.2 BTT Arena .............................................................................................................................. 18

14.3 BTT Rule ................................................................................................................................ 18

14.4 BTT Score............................................................................................................................... 19

14.5 Teleportation and bonus points............................................................................................ 20

15. VIRTUAL_WORLD Challenge (Smart Factory Challenge SFC) ................................................ 20

15.1 SFC Workpiece and Product .................................................................................................. 20

15.2 SFC Navigation ...................................................................................................................... 21

15.3 SFC Product making .............................................................................................................. 21

15.4 SFC Product Delivery ............................................................................................................. 22

15.5 SFC Scoring ............................................................................................................................ 22

15.6 Re-Start and Relocation ........................................................................................................ 23

15.7 Penalty .................................................................................................................................. 23

CHAPTER 5: JUDGING AND AWARDS .................................................................................................... 24

16. Judging and Interview ............................................................................................................... 24

17. Awards ...................................................................................................................................... 24

18. Appendix A: Real Field Suggested Building Instruction ............................................................ 25


CHAPTER 1: GENERAL RULES

1. Team

1.1. Team Members

1.1.1 A CoSpace Logistics team should have at least 2 members in order to participate in the

Regional or Super-Regional event. Each participant can only register for one team. The

maximum team size will be specified by RCAP 2018 Organising Committee.

1.1.2 All team members must be at the right age for their respective age groups.

• U12 group: Teams with all students aged 9 to 12 years old can participate in this category.

• U19 group: Teams with all student members aged 13 to 19 years old can participate in this

category. If a team has mixed ages (with both U12 and U19 members), they will be

allowed to compete in U19 category.

Age is specified as on 1st July in the year of the competition.

1.1.3 Every team member needs to carry out a technical role for the team (strategy planning,

programming, etc.), which should be specified at registration. Each member will need to

explain his/her technical role and should be prepared to answer questions regarding the

technical aspects of their involvement during preparation for the CoSpace Logistics Challenge.

1.1.4 Teams should be responsible for checking updated information (schedules, meetings,

announcements, etc.) during the event.

1.2. Team Captain

1.2.1 Each team must have a captain. The captain is responsible for communication with referees

during the game.

1.2.2 As the space around the competition fields is limited (and crowds can often result in accidents

that damage the robots), only the team captain is allowed to operate the real robot, based on

the stated rules and as directed by the referee. Other team members (and any spectators)

within the vicinity of the real world are to stand at least 150 cm away from the real world

while their real robot is active, unless otherwise directed by the referee.

2. CoSpace Logistic Game Description

In CoSpace Logistics Challenge, teams need to program 3 types of robot:

(1) A real mobile robot (REAL_ROBOT)

(2) A robotic arm (ROBOT_ARM)

(3) A virtual mobile robot (VIRTUAL_ROBOT)

The challenge begins in the real world whereby REAL_ROBOT navigates in REAL_WORLD and

works together with ROBOT_ARM to load and unload the colour objects. The collected objects

will then be teleported to VIRTUAL_WORLD. The team’s VIRTIAL_ROBOT will continue to make

products using virtual and teleported objects in the virtual smart factory.


The CoSpace Logistics Challenge consists of

REAL_WORLD Challenge - Basic Transportation Test (BTT), Maximum 3 minutes

VIRTUAL_WORLD Challenge - Smart Factory Challenge (SFC), 3 minutes

Figure 2 shows the game process.

2.1 REAL_WORLD Challenge (Basic Transportation Test, BTT)

2.1.1 A game begins with REAL_ROBOT navigating in REAL_WORLD.

2.1.2 In REAL_WORLD, REAL_ROBOT will first navigate from the Start Station (STAT_STN) to the

loading bay (LD_BAY) and stop at the Stop Line. The ROBOT_ARM will then load the objects

(OBJs) onto REAL_ROBOT according to the mission given. After the loading task is completed,

REAL_ROBOT will move to the respective unloading bay (UNLD_BAY) to unload all objects.

REAL_ROBOT will then navigate to the teleportation station (TELE_STN) autonomously for

teleportation.

2.2 Teleportation (Transition from REAL to VIRTUAL)

2.2.1 Teleportation means ending REAL_ROBOT’s movement in REAL_WORLD and activating the

team’s VIRTUAL_ROBOT in VIRTUAL_WORLD.

2.2.1 A team must end their REAL_ROBOT’s movement and teleport it within the first 3 minutes .

2.3.3 If a team fails to teleport by the end of the first 3 minutes, VIRTUAL_ROBOT will be activated

by the CoSpace server automatically.

2.3 VIRTUAL_WORLD Challenge (Smart Factory Challenge SFC)

2.3.1 In VIRTUAL_WORLD, VIRTUAL_ROBOT makes products in a smart factory according to the

mission given. The product is made of 1 BASE, 2 RINGS and 1 CAP. The final product will be

delivered to the correct delivery station.

REAL_WORLD VIRTUAL_WORLD

REAL_ROBOT

VIRTUAL_ROBOT

0

Time

6 Min (max)

Remain stationary thereafter

In Action

Teleportation

Figure 2: CoSpace Logistics process

In action

Stand-by

Teleporting

Maximum: 3 Min


3. Referee

3.1 Official

3.1.1 A referee is an official who manages the overall game, so as to ensure that the rules of the

game are followed.

3.1.2 The referee receives and uploads teams’ programs as well as runs the games.

3.2 Referee Box (REF_STAT and REF_TELE)

3.2.1 The organiser will provide a Referee Box that acts as the digital referee for Logistics Challenge

in REAL_WORLD. It communicates with the CoSpace server throughout the competition. The

referee box consists of the “REF_STAT” gate and “REF_TELE” gate.

3.2.2 Once REAL_ROBOT passes “REF_STAT”, the CoSpace logistics game clock begins. Once

REAL_ROBOT passes “REF_TELE”, the team’s VIRTUAL_ROBOT will be activated and the virtual

task will be started. It is the organiser’s responsibility to ensure that the referee box is in good

working condition.

4. Human Interference

4.1.1 Human interference (e.g. relocation of a real/virtual robot to any reset point) during the game

is not allowed unless permitted by the referee.

4.1.2 In any case, only the team captain is allowed to communicate with the referee.

5. Penalty

5.1.1 It is compulsory for teams to specify their team name in virtual games. Teams will be given a

verbal warning if they fail to do so the first time. The team will be disqualified from the current

game if the team fails to include their team name for the second time in a virtual game.

6. Interruption of Game

6.1.1 In principle, a game will not be stopped during gameplay.

6.1.2 The referee can pause a game when the game coordinator/referee needs to discuss an

issue/problem with the OC/TC. “Time-out” will be called in this case.

6.1.3 Teams are not allowed to quit a game 4 minutes after it has started.

CoSpace Server

REF_STAT

REF_TELE

Figure 3: Referee Boxes


7. Conflict Resolution

7.1 Referee

7.1.1 During a gameplay, the referee’s decisions are final.

7.1.2 At the end of the game, the referee will ask the captain to sign the CoSpace Logistics result

sheet. Captains are given a maximum of 1 minute to review the result and sign. By signing it,

the captain accepts the final result on behalf of the entire team. In case of further

clarification, the team captain should write their comments on the result sheet and sign it.

7.1.3 A violation of the rules may be penalized by result in disqualification from the tournament or

the round, or may result in loss of points, at the discretion of the referee, officials, organizing

committee or and general chairs.

7.2 Rule Clarification

7.2.1 It is the team’s responsibility to verify on the RoboCup Asia Pacific Official website the latest

version of the rules prior to the competition. If any clarification is needed, please contact the

RCAP CoSpace Logistics Technical Committee.

7.2.2 If necessary, a rule clarification may be made by members of the RCAP CoSpace Logistics

Technical Committee and Organizing Committee, even during a tournament.

7.3 Special Circumstances

7.3.1 Under special circumstances, such as the occurrence of unforeseen problems or malfunction

of the robot, rules may be modified by the RCAP CoSpace Logistics Organizing Committee

Chair in conjunction with available Technical Committee and Organizing Committee

members, if necessary, even during a tournament.

7.3.2 If any of the team captains/members/mentors do not show up to the team meetings to

discuss the problems and the resulting rule modifications described in 7.3.1, it will be

considered as an endorsement.

7.4 Complaint Procedure

7.4.1 Rule issues are not to be discussed during a game. Referee decisions are binding for the

CoSpace Logistics Challenge. A team may protest by executing the following complaint

procedure. The procedure is also automatically invoked if a referee decides to abort a game

for any reason (e.g. field damage, lighting failures, burning robots).

7.4.2 To initiate the complaint procedure, the team leader of the challenging team is to contact a

member of the Technical Committee within 10 minutes of the end of the game in question.

The member of the Technical Committee then invokes a team leader conference in

consultation with the Organizing Committee. The following parties will participate in this

conference: the referees of the game in question, Organising Committee members, and the

Technical Committee (counselling). The situation shall be resolved by unanimous consent or

by vote of the Organising Committee members.

7.4.3 All teams are reminded that while this is a competition, the league is also about cooperative

research and evaluation and as such, complaints should be handled in a fair and forthcoming

way.


8. Documentation

8.1 Learning Journal

8.1.2 Each team must bring a learning journal or any form of documentation describing the

information about the team, their preparation efforts in programming and how they prepared

for RCAP. The learning journal must be presented during the interview, and may be called

upon to help establish the authenticity of a team’s performance.

8.2 Poster

8.2.1 Teams will be given some public space to display their poster. The size of the poster should be

no larger than A1 (60 x 84 cm). The poster should be brought along to the technical interview,

after which, it should be displayed in the location indicated.

8.2.2 The aim of the poster is to explain the technology used in the robots. It should include:

• Team name;

• Team members' names and (perhaps) a picture of the team members;

• Team's country and location within country;

• Team's track record;

• Any interesting or unusual features of their programs;

• What the team hopes to achieve in robotics.

9. Code of Conduct

9.1 Fair Play

9.1.1 Humans that cause a deliberate interference with real robots or damage to the real field setup

will be disqualified.

9.1.2 It is expected that the aim of all teams is to participate fairly.

9.2 Behaviour

9.2.1 If one team copies a program from another team, both teams will be disqualified.

9.2.2 Teams will be disqualified for deliberately trying to lose the game or tie with the opponent

team.

9.2.3 Team members should be mindful of other people and their robots when moving around the

tournament venue.

9.2.4 Team members are not to enter setup areas of other leagues or other teams, unless

expressly invited to do so by a referee.

9.2.5 Team members who misbehave may be asked to leave the building and risk being

disqualified from the tournament.

9.2.6 These rules will be enforced at the discretion of the referees, officials, tournament

organizers and local law enforcement authorities.

9.2.7 Mentors (teachers, parents, chaperones, translators, and other adult team members) are not

allowed in the student work area. They are not allowed to be involved in programming of


students' robots. Mentor interference with robots or referee decisions will result in a warning

in the first instance. If it reoccurs, the team will risk being disqualified.

9.3 Sharing

9.3.1 Teams are encouraged to share their programming and strategies with members from other

teams.

9.3.2 Any developments may be published on the RCAP website after the event.

9.3.3 This furthers the mission of RoboCupJunior as an educational initiative.

9.4 Spirit

9.4.1 It is expected that all participants (students and mentors alike) will respect the

RoboCupJunior mission.

9.4.2 The referees and officials will act within the spirit of the event.

9.4.3 It is not whether you win or lose, but how much you learn that counts!

CHAPTER 2: ROBOTS AND COMMUNICATION

Teams need to have standard real mobile robot and robotic arm for the CoSpace Logistics Challenge.

10. ROBOT Structure and Configuration

10.1 REAL_ROBOT Configuration

10.1.1. A mobile robot, REAL_ROBOT is required to transport the colour objects (OBJ) in

REAL_WORLD. The REAL_ROBOT consists of

10.1.2 There is an object plate mounted on top of REAL_ROBOT for hosting the OBJs. The size and

layout of the object plate are as shown in figure 5.

• 3 ultrasonic sensors

• 1 gyro sensor

• 6 IR sensors

• 1 RGB sensor

• 2 DC motors with encoder

• 1 LED for status indication

• 1 XBee

Figure 4: REAL_ROBOT configuration

20

cm

18 cm XBee

Ultrasonic sensor RGB sensor

Gyro sensor

LED Motor


10.2 REAL_ROBOT Control

10.2.1 REAL_ROBOT must be controlled autonomously. The use of a remote control, manual control,

or passing information (by sensors, cables, wirelessly, etc.) to the robot is not allowed when

REAL_ROBOT is in action.

10.2.2 REAL_ROBOT must be started by team captain manually.

10.2.3 Any pre-mapped type of dead reckoning strategy (movements predefined based on known

locations or placement of features in the field) is prohibited.

10.2.4 REAL_ROBOT must not damage any part of the field in any way.

10.3 ROBOT_ARM

10.3.1 The ROBOT_ARM is used for object manipulation. The ROBOT_ARM has 4 DOF. It

communicates with CoSpace Server and REAL_ROBOT via ZigBee/WIFI.

10.3.2 ROBOT_ARM configuration for different age groups:

• U12 group – No camera will be used. Teams will use the built-in GUI to pick and place the

OBJs according to the location coordinates.

• U19 group - A Camera is required for obtaining the information of OBJ and object plate.

The camera can be mounted on any position on the ROBOT_ARM. Teams are required to

develop AI for object manipulation and colour tuning.

10.4 VIRTUAL_ROBOT

10.4.1 The VIRTUAL_ROBOT has similar configuration as REAL_ROBOT

• 3 ultrasonic sensors

• 1 gyro sensor

• 6 IR sensors

• 1 RGB sensor

• 2 DC motors

• 1 LED for status indication

Figure 6: VIRTUAL_ROBOT Configuration

IR sensor array Ultrasonic sensor RGB sensor

Gyro sensor

LED Motor

3 cm

7 cm

3 cm

10

.8 cm

Figure 5: Object Plate 12

.5 cm

10 cm


10.5 Communication and Teleportation

10.5.1 The communication and coordination between REAL_ROBOT and ROBOT_ARM are realised

via XBee.

10.5.2 The real-virtual communication is realized via the Referee Box.

CHAPTER 3: FIELD SETUP

11. REAL_WORLD Setup

11.1 Field Dimension

11.1.1 The dimensions of REAL_WORLD are 180cm x 240cm.

11.1.2 REAL_WORLD will be enclosed by a wall of height of 5 cm if it is not placed on floor.

11.1.3 The floor of REAL_WORLD is generally white in colour. The floor may be either smooth or

textured. Appendix A shows the building instructions.

11.1.4 The REAL_WORLD will be placed so that the floor is level.

11.2 Field Layout

11.2.1 REAL_WORLD may consist of any of the following:

(1) Black line

(2) Obstacles

(3) Stop line

(4) Maker

(5) Teleportation Station (TELE_STN)

(6) Loading Bay (LD_BAY)

(7) Unloading Bay (UNLD_BAY)

(8) Colour Objects (OBJ)

(9) Start Station (STAT_STN)

(10)Object Plate

11.2.2 Typical field layout for all age categories:

U12 Group

RCAP CoSpace Logistics Challenge Rules 2018 (1 June 2018) Page 13

Figure 7: REAL_WORLD layout

11.2.3 Black Guideline

• The black guideline (1.8-2 cm wide) may be made with standard electrical insulating tape

or printed onto paper or other materials.

• Straight sections of the black guideline may have gaps with a straight line of at least 5cm

before each gap. The length of a gap will be no more than 20cm.

11.2.4 Obstacles

The size of obstacles should not be less than 5 cm x 5 cm x 15 cm (Length x width x height).

There is no upper bound on the size. The weight of the obstacles are not specified. Examples

for obstacles are trash bins, boxes, big aluminium profiles, autonomous robots, etc.

REAL_ROBOT is expected not to bump into the obstacles.

11.2.5 Stop Line

The robot will need to stop when it detects the stop line.

Figure 8: Sample of black guidelines

20 cm

Figure 9: Stop Line

1.8 ~ 2 cm

U19 Group


11.2.6 Markers

There are some colour markers in REAL_WORLD to guide REAL_ROBOT to the TELE_STN . The

size of the marker is greater than 4cm x 4cm. The marker can be any colour.

11.2.7 Teleportation Station (TELE_STN)

The TELE_STN is the terminal station for REAL_ROBOT in the REAL_WORLD. It is white with an

orange colour patch. The size of the TELE_STN is 30cm x 30cm.

11.2.8 Loading Bay (LD_BAY)

REAL_ROBOT will be stopped at the LD_BAY when ROBOT_ARM placing the OBJs. The size of

the LD_BAY is 30cm x 30cm. It is grey in colour.

11.2.9 Unloading bay (UNLD_BAY)

Areas designed for unloading objects are called the unloading bays. The size of the UNLD_BAY

is 10cm x 10cm. The UNLD_BAY has 4 colours.

Figure 13: Unloading Bay

10 cm

10 cm

Figure 10: Sample of markers

30 cm

30 cm

Figure 12: Loading Bay

Figure 11: Teleportation

Station

30cm

30cm


11.2.10 Colour Objects (OBJ)

ROBOT_ARM will load the OBJs on REAL_ROBOT during the loading process. They are RED,

GREEN, YELLOW and BLUE in colour. The OBJs are generally cubes.

11.2.11 Object Plate

The Object Plate is for hosting the objects in REAL_WORLD. All objects need to be placed

properly in the object plate. The size of the Object Plate is 30 cm x 30 cm. It is white in colour。

11.3 Environmental Conditions

11.3.1 The environmental conditions at a tournament will be different from the conditions at home

practice field. Teams must come prepared to adjust their robots to suit the conditions at the

venue.

11.3.2 The lighting condition for the virtual/real worlds can be varied. Teams must be able to perform

calibration in order to complete the mission.

30cm

30cm 10cm

10cm

2.5 cm

2.5 cm

Figure 14: Object Plate

2.5cm 2.5cm

2.5cm

2.5cm 2.5cm

1– 5cm

Figure 13: Colour Objects

U12 Group: The objects are Cubes

U19 Group: The objects are cuboids


11.3.3 For teams using real robots, please note that picture taking by spectators might introduce IR

and visible light interference to the real-world setup and to the real robots. Whilst efforts will

be made to limit this, it is very difficult for organizers to strictly control factors outside of the

real world. Teams are strongly encouraged to program their real robots so that sudden

changes (e.g. camera flashes) do not cause major problems.

11.3.4 Every effort will be made by the organizers to locate the real world away from sources of

magnetic fields such as under-floor wiring and metallic objects, however, sometimes this

cannot be avoided.

12. VIRTUAL_WORLD Setup

12.1 Layout and Dimensions

12.1.1 The virtual arena is shown in Fig. 15. The dimensions of the virtual factory are 360cm x

270cm. Any floor colour, which does not affect robot’s detection and movement, is allowed.

12.1.2 Machines

There are 5 kinds of production machines.

• BaseStation (BS) acts as a dispenser of BASE.

• CapStation (CS) mounts a CAP as the final step of production.

• RingStation_Virtual (RS_V) mounts a virtual RING, which is generated by the CoSpace

server, on an intermediate product.

• RingStation_Real (RS_R) mounts a real RING, which is delivered from the real world, on

an intermediate product.

• DeliveryStation (DS) accepts completed products. There are 3 types of delivery stations,

namely DS-Brown, DS-Grey, DS-Purple. The DS only accept products with matching base

colours.

12.1.3 Black lines

Black lines serve as guidelines for the robot while navigating in the Smart Factory. Robots are

allowed to follow black lines to reach different product stations to pick up the workpieces for

product making.

12.1.4 Markers

Each marker on the floor next to various stations represent a BASE, RING, CAP or a DS.

U12 Group U19 Group

Figure 15: VIRTUAL_WORLD Setup


12.1.5 Yellow Area

The yellow area around each station is to help participants to program VIRTUAL_ROBOT to

have a better and smooth navigation in VIRTUAL WORLD.

CHAPTER 4: GRAND CHALLENGE

The Grand Challenge consists of

• REAL_WORLD Challenge - Basic Transportation Test (BTT) (max 3 min)

• VIRTUAL_WORLD Challenge - Product making in the Smart factory (max 3 min).

13. Procedure

13.1 Release of Task

13.3.1 The mission for both real and virtual games will be released to teams prior to the tournament.

13.2 Submission of AI

13.2.1 The chief judge will announce the AI submission time during the competition.

13.2.2 Each team must submit their first AI strategy which is created during the programming period

(we shall call it AI_1) to the chief judge.

13.3 Start of Play

13.3.1 5 minutes before each round of the game

• Team captains must report to the referee at the respective game stations.

• Teams are allowed to submit a revised version of their AI to the referee if they wish to

make changes to their earlier AI. No modification of AI is allowed once the round of game

begins. The referee will continue to use AI_1 if there is no submission of revised AI.

13.3.2 Real game

• The team captain will upload the programs to REAL_ROBOT and ROBOT_ARM, place

REAL_ROBOT at the STAT_STN in REAL_WORLD as instructed by the referee.

• It is the team captain’s responsibility to ensure that the correct program is uploaded.

• Team captains must be present during the full length of the game.

13.3.3 Virtual game

• The referee will upload the programs to the CoSpace server, place VIRTUAL_ROBOT in the

initial station in VIRTUAL_WORLD and start the virtual game.

• It is the team captain’s responsibility to ensure that the correct program is uploaded.

• Team captains must be present during the full length of the game.

14. REAL_WORLD Challenge (Basic Transportation Test, BTT)

14.1 BTT Task

In REAL_WORLD, REAL_ROBOT will first navigate from the Start Station (STAT_STN) to the

LD_BAY and stop at the Stop Line. ROBOT_ARM will pick up OBJs from the object plate and

place them onto the designated slot of the object plate mounted on REAL_ROBOT according


to the task given. After all the OBJs are loaded, the REAL_ROBOT will transport them to the

colouring matching UNLD_BAY for unloading. When all OBJs are unloaded successfully, the

REAL_ROBOT will move to the TELE_STN autonomously for teleportation.

14.2 BTT Arena

14.3 BTT Rule

14.3.1 REAL_ROBOT will be placed in the STAT_STN on the REAL_WORLD by the team captain.

14.3.2 REAL_ROBOT will be started by the team captain manually.

14.3.3 REAL_ROBOT will need to avoid all obstacles.

Figure 16: Arenas for BTT

U12 Group

U19 Group


14.3.4 REAL_ROBOT will need to trigger ROBOT_ARM for OBJ manipulation once it stops at the stop

line in LD_BAY.

14.3.5 A manipulation object counts as successfully picked, if

• The OBJ has been lifted 5cm higher than its original level.

• The OBJ has been lifted for more than 3 sec.

14.3.6 A manipulation object counts as successfully placed, if the OBJ has been placed on

REAL_ROBOT before it starts to leave the LD_BAY. Refer to section 14.4 for rewarding points.

14.3.7 REAL_ROBOT will need to unload all loaded OBJs described in 14.3.5 in the UNLD_BAY. After

successful unloading, points will be awarded (refer to section 14.4). The successfully unloaded

OBJs will be teleported to the VIRTUAL_WORLD for smart product making.

“Successful unloading” means:

(1) The OBJ can only be unloaded to the UNLD_BAY with matching colour.

(2) A robot must stop inside the UNLD_BAY with the LED steady ON for 3 seconds to

indicate the unloading process;

A robot is only considered to be in the UNLD_BAY when the colour sensor detects the

UNLD_BAY.

(3) The robot will exit the UNLD_BAY autonomously after unloading process (the colour

sensor is out of UNLD_BAY).

14.3.8 REAL_ROBOT will navigate to the TELE_STN for teleportation after unloading process has been

completed.

14.3.9 The max time allowed for BTT is 3 minutes. If the time exceeds the max time allowed, the

referee will define the task as not completed. In this case, teams will still retain the points

awarded during the real game.

14.4 BTT Score

Action Points

Picking up OBJ successfully 100

Placing OBJ in the designate slot in on-bard object plate. The OBJ stays fully inside the slot when REAL_ROBOT starts moving away from the LD_BAY.

150

Placing OBJ in the designate slot in on-bard object plate. The OBJ could not be fully inside the slot when REAL_ROBOT starts moving away from the LD_BAY.

100

Successful unloading the OBJ in the colour matching UNLD_BAY 50

REAL_ROBOT stops at the TELE_STN after teleportation 50

Bonus point (to be announced by referee at beginning of each round of game) 0 - 200


14.5 Teleportation and bonus points

14.5.1 If REAL_ROBOT passes REF_TELE within 3 minutes after the start of the real game, it will be

considered to have teleported successfully. 200 teleportation points will be rewarded to the

team. The VIRTUAL_ ROBOT will be activated upon successful teleportation.

14.5.2 If REAL_ROBOT is not able to pass the REF_TELE within 3 minutes after the start of the game,

the VIRTUAL_ROBOT, will be activated by the CoSpace server. No teleportation points will be

awarded to the team.

15. VIRTUAL_WORLD Challenge (Smart Factory Challenge SFC)

In the smart factories, the teams must program the autonomous mobile robot agent to handle

the workpieces through several (dynamic) stages to produce a final product to fulfil the task

requirement. Finally, successfully assembled products will be delivered to the corresponding

delivery station. A team must make as many products as possible according to the

specification stipulated without human interference. Maximum time allowed for the Smart

Factory Challenge is 3 minutes.

15.1 SFC Workpiece and Product

15.1.1 Workpieces denote raw materials at different stations and intermediate stages during

production.

BASE: BASE is the lowermost workpiece in each product. BASE is available in Brown, Aqua

or Purple.

RING: RINGs are mounted at intermediate production steps at RS. A product requires two

intermediate rings of distinct colour. The order and colour of the rings matters

according to the different age categories (refer to section 15.3).

There are two types of rings:

• RING_V are the rings generated by the CoSpace server. RING_V will be placed at

RS_V.

• RING_R are the rings transferred from the real world (refer to section 14.3.6) .

RING_R will be placed at RS_R.

• The points for taking RING_V and RING_R are different (refer to section 14.10.2).

• The colours of the rings are Blue, Green, Yellow or Red.

CAP: Caps are the topmost element in each production. Each product requires one CAP.

After the cap is placed. The product is considered completed. The other workpieces

are not allowed to be added afterward.

The colours of CAPs are Orange or Cyan.

15.1.2 Each product consists of the following workpieces:

• Base x 1 • Ring x 2 • Cap x 1


15.2 SFC Navigation

15.2.1 U12 group

VIRTUAL_ROBOT follows the black line to BaseStation, RingStation, and CapStation to pick up

the respective workpieces to make the product.

15.2.2 U19 group

VIRTUAL_ROBOT will navigate in the smart factory to BaseStation, RingStation, and CapStation

fully autonomously. The CoSpace Server will send the robot its own coordinates while the

robot is navigating in the VIRTUAL_WORLD. Figure 19 shows the virtual robot is at position

(180cm, 197cm).

15.3 SFC Product making

Each product should consist of 1 BASE, 2 RING, and 1 CAP. The sequence of product making is

BASE – RING 1 – RING 2 – CAP. The product must be built from base workpiece. Once the cap

is added, it is considered that the product is completed. Refer to section 15.5.2.

15.3.1 U12 Group

Team must pick up the correct BASE, any 2 RINGs and any 1 CAP according to the product info

released. The colour and sequence of the RING_1, RING_2 and CAP will not affect the result.

15.3.2 U19 Group

For secondary category, team must pick up the correct BASE, RING_1, RING_2 and CAP

according to the product info released. The sequence of adding RING_1 and RING_2 will not

affect the result.

Cap

Ring2

Ring1

Base

Figure 18: Stations and products

Display in CsBot Simulator

Figure 19: X & Y coordinate system for robot in VIRTUAL_WORLD


15.4 SFC Product Delivery

15.4.1 Each robot will need to send the completed product to the DeliveryStation which matches

the colour of the product BASE.

15.4.2 The Smart Factory Challenge in VIRTUAL_WORLD lasts for 3 minutes. Team needs to make as

many products as possible within 3 minutes.

15.5 SFC Scoring

15.5.1 A team will be given 100 points at the beginning of each game.

15.5.2 Picking up workpieces

A team will gain points by picking up the workpieces.

To indicate that a robot has picked up a workpiece, it must stop and flash its LED for 3 seconds

when the colour sensor has detected the workpiece.

Workpiece Type Points

BASE 20

RING_V 20

RING_R 100

CAP 20

15.5.3 Placing product in DeliveryStation (DS)

A robot is considered to be at DS only when the colour sensor has detected the DeliveryStation.

To place the product in the correct delivery station, the robot must

• Stop at the DS which matches the product base colour. • Turn on the LED for 3 seconds (with a steady light) to indicate the delivery process;

Upon successfully placement, points will be awarded accordingly.

Category Product Can product be placed?

Points

U12 • Base: BASE matches DS

• Rings: RING_1 & RING_2 added (any colour)

• Cap: CAP added (any colour)

Yes 80

• Base: BASE mismatches DS colour No -

• Base: BASE matches DS

• Rings: RING_1 and/or RING_2 missing

• Cap: CAP added (any colour)

Yes 0


• Rings: RING_1 & RING_2 added (any colour)

• Cap: No CAP added

Yes 0

U19 • Base: BASE matches DS

• Rings: RING_1 & RING_2 added with correct colour

• Cap: Correct CAP added

Yes 80

• Base: BASE mismatches DS Yes 0

• Base: BASE matches DS Yes 0


• Rings: RINGs missing or colour mismatches

• Cap: Correct CAP added


• Rings: RING_1 & RING_2 added with correct colour

• Cap: CAP missing or colour mismatches

Yes 0

15.6 Re-Start and Relocation

15.6.1 Teams are allowed to have 2 restarts in each game due to technical errors caused by

REAL_ROBOT or ROBOT_ARM.

15.6.2 In the virtual game, the team captain can request to relocate the VIRTUAL_ROBOT in the

following cases:

(a) VIRTUAL_ROBOT is looping

(b) VIRTUAL_ROBOT is not performing well.

Upon team’s request, the referee will call “RELOCATE” and relocate the VIRTUAL_ROBOT.

Team captain can choose how the VIRTUAL_ROBOT to be relocated:

(1) to a different location close to where it was, with a different orientation. However,

the robot will be frozen for 10 seconds after relocation.

(2) To the initial position. In this case, the VIRUAL_ROBOT will not be fronzen for 10 sec.

Each team can only call for relocation up to 3 times in VIRTUAL_WORLD in each game. The

referee will keep track of the number of relocations requested.

15.6.3 In virtual game, when a virtual robot is stuck for 10 seconds, team captain can request for

“relocation”. Upon team’s request, the referee will call “STUCK” and relocate the

VIRTUAL_ROBOT to a different location but close to where it was with different orientation.

The robot will not be frozen for 10 seconds after relocation. Relocation for this case will not

be counted as in 14.11.2

15.7 Penalty

15.7.1 It is compulsory for teams to specify the team name in virtual games. Teams will be given a

verbal warning if they fail to do so for the first time. The team will be disqualified for the

current game if the team fails to add the team name for the second time.

15.7.2 If a virtual robot is hit/attacked by another team’s virtual robot, the attacking robot will be

separated from the attacked robot and repositioned at a location near the collision, with a

different orientation, and be frozen for 10 seconds. There will be no point deduction.

15.7.3 If the attacked robot falls, it will be replaced at the same location. The robot will continue to

work in the smart factory immediately.

15.7.4 If both virtual robots bump into each other, both will be repositioned at a location near the

collision, with different orientations, and be frozen for 10 seconds. No points will be

deducted.


CHAPTER 5: JUDGING AND AWARDS

16. Judging and Interview

16.1.1 It is compulsory for all teams to attend the technical interview. Teams may take the interview

scoresheet for reference while preparing their interview.

16.1.2 During the interview, students will be asked about their preparation efforts. Teams are

required to present their learning journal and poster for the interview. Teams may asked to

present a solution to solve spontaneous CoSpace Logistics problems.

16.1.3 Interviews will take place in English. If a team requires a translator, they should inform the

local organizing committee by e-mail prior to the event to allow for the arrangement of

translators.

16.1.4 Teams may be asked to have a second interview after the Finals, if judges deem it necessary.

Teams may be asked to submit their source code for the round. The source code will not be

shared with other teams without the team’s permission.

17. Awards

The team performance is ranked based on the challenge score. Depending on the number of

teams entering the competition, there will be awards for trophies and certificates.

Rule clarification: [email protected]

Technical support: [email protected]

mailto:[email protected]

mailto:[email protected]


18. Appendix A: Real Field Suggested Building Instruction

The inner dimensions of the real arena are 180cm x 240cm. The following is the suggested instruction

for building the real arena. These instructions are applicable only for the World Championship

organizers.

1. Cut a piece of 183cm x 243cm plywood or fiberboard (about 1.5cm thickness is adequate).

The surface of the board may be either smooth or textured. You may also join a few small

ones together. Please make sure the joint is smooth. It should not affect the real robot’s

movement.

2. Lay the board on the floor. The floor should be level.

3. Paint the surface to white colour.

4. A simple frame should be added at the edge to prevent the robot from falling if the arena is

not placed on the floor.

180 cm

240 cm

5 cm

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