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RoboCupJuniorRescueMaze–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

ThesearetheofficialrulesforRoboCupJuniorRescueMaze2019.TheyarereleasedbytheRoboCupJuniorRescueTechnicalCommittee.TheEnglishruleshavepriorityoveranytranslations.Changesfromthe2018rulesarehighlightedinred.Pleasenotethattherewereseveralchangesduetogrammarandspellingmistakes.Changesaremadetoclarifysomestatements(highlightedinyellow).

Scenario

Thelandissimplytoodangerousforhumanstoreachthevictims.Yourteamhasbeengivenadifficulttask.Therobotmustbeabletocarryouttherescuemissioninafullyautonomousmodewithnohumanassistance.Therobotmustbedurableandintelligentenoughtonavigatethroughtreacherousterrainwithhills,unevenlandandrubblewithoutgettingstuck.Therobotmustsearchforvictims,dispenserescuekits,andsignalthepositionofthevictimssothehumanscantakeover.

Timeandtechnicalskillsaretheessential!Comepreparedtobethemostsuccessfulrescueteam

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.

Summary

Therobotneedstosearchthroughamazeforvictims.Therobotshouldnotfindthefastestpaththroughthemaze,insteaditshouldexploreasmuchofthemazeaspossible.Therobotwillgeteither10or25pointsforeachvictimfound.Iftherobotcandeliverarescuekitclosetothevictim,itwillearnanadditional10points.Therobotmustavoidareaswithablackfloor.

Iftherobotisstuckinthemazeitcanberestartedatthelastvisitedcheckpoint.Areflectivefloorindicatescheckpointssotherobotcansavethepositiontoamap(ifitusesamap)inanon-volatilemediumandrestoreitincaseofarestart.

Iftherobotcanfinditswaybacktothebeginningofthemazeafterexploringthewholemazeitwillreceiveanexitbonus.Therobotwillalsoearnareliabilitybonusiftherobotcanexitthemazewithaminimumnumberofrestarts.Iftherobotcanfinditswaybacktothebeginningafterexploringthemazeitwillreceive10bonuspointsperidentifiedvictimasanexitbonus.

Therobotcanearnadditionalpointsbynavigatingthefollowingobstacles:

• 20pointsforgoinguparamp• 10pointsforeachvisitedcheckpoint• 10pointsforgoingdownaramp• 5pointsforpassingthrougheachtilewithspeedbumps

OfficialRoboCupJuniorsite:http://robocupjunior.org(underRescue)

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

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Contents

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

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

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

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

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

1.3Path...............................................................................................................................................5

1.4SpeedBumps,DebrisandObstacles.............................................................................................5

1.5Victims...........................................................................................................................................6

1.6RescueKits....................................................................................................................................7

1.7EnvironmentalConditions.............................................................................................................7

2. Robots.....................................................................................................................7

2.1Control..........................................................................................................................................7

2.2Construction..................................................................................................................................7

2.3Team.............................................................................................................................................7

2.4Inspection......................................................................................................................................8

2.5Violations......................................................................................................................................8

3. Play..........................................................................................................................8

3.1Pre-roundPractice........................................................................................................................8

3.2Humans.........................................................................................................................................9

3.3StartofPlay...................................................................................................................................9

3.4Gameplay.....................................................................................................................................9

3.5Scoring...........................................................................................................................................9

3.6LackofProgress..........................................................................................................................11

3.7EndofPlay...................................................................................................................................12

4. OpenTechnicalEvaluation.....................................................................................12

4.1Description..................................................................................................................................11

4.2EvaluationAspects......................................................................................................................12

4.3Sharing........................................................................................................................................13

5. ConflictResolution.................................................................................................13

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5.1RefereeandRefereeAssistant....................................................................................................12

5.2RuleClarification.........................................................................................................................13

5.3SpecialCircumstances.................................................................................................................13

6. CodeofConduct....................................................................................................13

6.1Spirit............................................................................................................................................13

6.2FairPlay.......................................................................................................................................14

6.3Behavior......................................................................................................................................14

6.4Mentors.......................................................................................................................................14

6.5EthicsandIntegrity.....................................................................................................................14

6.6Sharing........................................................................................................................................15

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1. Field

1.1Description1.1.1Thefieldlayoutmayconsistofmultipledistinctareas.Areaswillhaveahorizontalfloorandaperimeterwall.1.1.2Areasmaybejoinedtogetherbydoorwaysorramps.1.1.3Wallsthatmakeupthemazeareatleast15cmhigh.Theirwidthcanreducetheavailablespacefordoorwaysandpaths(see1.1.4,1.1.5and1.3.2)1.1.4Doorwaysareatleast30cmwide.1.1.5Rampswillbeatleast30cmwideandhaveaninclinewithamaximumof25degreesfromthehorizontal.Rampsarealwaysstraight.

1.2Floor1.2.1Floorsmaybeeithersmoothortextured(likelinoleumorcarpet)andmayhavestepsofupto3mminheightbetweenthetiles.Theremaybeholesinthefloor(approximately5mmindiameter),forfasteningwalls.1.2.2Blacktilesinthefieldrepresent“nogo”spaces.Blacktileswillbeplacedrandomlyatthestartofeachround.Blacktilesmaynotbecompletelyfixedtothefloor.1.2.3Silvertilesinthefieldrepresentcheckpoints.Silvertilesmaynotbecompletelyfixedtothefloor.1.2.4Atileisdefinedasa30x30cmspace,whichisalignedtothegridmadeupbythewalls.

1.3Path1.3.1Wallsmayormaynotleadtotheentrance/exit.Wallsthatleadtotheentrance/exitarecalled“linearwalls.”ThewallsthatdoNOTleadtotheentrance/exitarecalled“floatingwalls.”1.3.2Thewidthofthepathis29cm,andmayopenintofoyerswiderthanthepath.1.3.3Oneoftheoutermosttilesisthestartingtile,wherearobotshouldstartandexittherun.1.3.4Wallsmayberemoved,addedorchangedjustbeforearunstartstopreventteamspre-mappingthelayoutofthefields.Organizerswilldotheirbesttonotchangethelengthordifficultyofthemazewhenintroducingthesechanges.

1.4SpeedBumps,DebrisandObstacles1.4.1Speedbumpsarefixedtothefloorandhaveamaximumheightof2cm.1.4.2Debrisisnotfixedtothefloorandhasamaximumheightof1cm.1.4.3Debrismaybeadjacenttowalls.

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1.4.4Obstacles:a) haveminimumheightof15cm.b) mayconsistofanylarge,heavyitems.c) maybefixedtothefloor.d) maybeanyshapeincludingrectangular,pyramidal,sphericalorcylindrical.

1.4.5Anobstaclemaybeplacedinanylocationwhereatleast20cmisleftbetweentheobstacleandanywall.1.4.6Obstaclesthataremovedorknockedovermustremainwheretheyaremovedorfallandwillnotberesetduringthescoringrun.

1.5Victims1.5.1Therearetwotypesofvictims:heatedvictimsandvisualvictims.1.5.2Eachheatedvictimhasasurfaceareagreaterthan16cm².1.5.3Victimsarelocatednearthefloorofthefield(locatedabout7cmabovethefloor,seethefigurebelow).Thevictim'sbodytemperaturesimulateshumanbodytemperaturebetween28°Cand40°C.).Thetemperatureofthevictimsimulateshumanbodytemperaturebetween28°Cto40°C.1.5.4Theorganizerswilltrytokeepaminimumdifferenceof10°Cbetweenheatedvictims'temperaturesandtheambienttemperatureofthefield.1.5.5Theremaybeobjectsthatresembleheatedvictimsinappearancebutarenotvictims.Suchobjectsshouldnotbeidentifiedasvictimsbyrobots.1.5.6Visualvictimsareuppercaselettersprintedonorattachedtothewall.Theyareprintedinblack,usingasansseriftypefacesuchas“Arial”.Theirheightwillbe4cm.Thelettersrepresentthehealthstatusofthevictim.

a) Harmedvictim:Hb) Stablevictim:Sc) Unharmedvictim:U

1.5.7Therewillbeaminimumnumberoffive(5)heatedvictimsinafield.1.5.8Therewillbemoreheatedthanvisualvictimsinafield.1.5.9Victimswillneverbelocatedonblacktilesorontileswithobstacles.

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1.6RescueKits1.6.1Arescuekitrepresentsabasichealthpackagedistributedtoavictimcaughtinanaturaldisaster.Itsymbolizestools,medicalsuppliesordevicesusedintherescueprocess,suchasGPStranspondersorevensomethingassimpleasalightsource.1.6.2Becauseweneedtoensurethatarescuekitreachesthevictim,ithastostaynearthevictimafterthedeployment.Forexample,itcannotrollawayfromorbounceofftomoveawayfromthevictim.1.6.3Eachrescuekitmusthaveaminimumvolumeof1cm³.1.6.4Arobotcanonlycarryamaximumnumberof12rescuekits.1.6.5Eachteamisresponsiblefortheirownrescuekitsystem,includingbringingtherescuekitstothecompetition.Theteamcaptainisresponsibleforloadingtherescuekitsontotheirrobotandcollectingitfromthefieldwiththereferee’s/judge’sauthorizationaftertheendoftherun.

1.7EnvironmentalConditions1.7.1Theenvironmentalconditionsatatournamentwillbedifferentfromtheconditionsathomepracticefields.Teamsmustcomepreparedtoadjusttheirrobotstotheconditionsatthevenue.1.7.2Lightingandmagneticconditionsmayvaryintherescuefield.1.7.3Thefieldmaybeaffectedbymagneticfields(e.g.generatedbyunderfloorwiringandmetallicobjects).Teamsshouldpreparetheirrobotstohandlesuchinterference.Organizersandrefereeswilldotheirbesttominimizeexternalmagneticinterference.1.7.4Thefieldmaybeaffectedbyunexpectedlightninginterference(e.g.suchascameraflashfromspectators).Teamsshouldpreparetheirrobotstohandlesuchinterference.Organizersandrefereeswilldotheirbesttominimizeexternallightinginterference.1.7.5TheOrganizingCommittee(OC)willtrytheirbesttofastenthewallsontothefieldfloorsothattheimpactfromcontactshouldnotaffecttherobot.1.7.6Allmeasurementsintheruleshaveatoleranceof±5%.1.7.7Objectstobedetectedbytherobotwillbedistinguishablefromtheenvironmentbytheircolour,shapeorheatsignature.

2. Robots

2.1Control2.1.1Robotsmustbecontrolledautonomously.Theuseofaremotecontrol,manualcontrol,orpassinginformation(bysensors,cables,wirelessly,etc.)totherobotisnotallowed.2.1.2Robotsmustbestartedmanuallybytheteamcaptain.2.1.3Robotsmayutilizevariousmazenavigationalgorithms.Anypre-mappedtypeofdeadreckoning(movementspredefinedbasedonknownlocationsorplacementoffeaturesinthefield)isprohibited.2.1.4Arobotmustnotdamageanypartofthefieldinanyway.2.1.5Robotsshouldincludeastop/pausebuttonsotheymaybeeasilystopped/pausedbytheteamcaptaintoavertanypotentiallydamagingorillegalrobotactions.

2.2Construction2.2.1Theheightofarobotmustnotexceed30cm.2.2.2Robotsmaynothaveanysensorordevicesthatenablesitto'see'overthewalls.

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2.2.3Anyrobotkitorbuildingblocks,eitheravailableonthemarketorbuiltfromrawhardware,maybeusedaslongasthedesignandconstructionareprimarilyandsubstantiallytheoriginalworkofthestudents(seesection2.5.below).2.2.4TeamsarenotpermittedtouseanycommerciallyproducedrobotkitsorsensorscomponentsthatarespecificallymarketedtocompleteanymajortaskofRoboCupJuniorRescue.Robotsthatdonotcomplywillfaceimmediatedisqualificationfromthetournament.Ifthereisanydoubt,teamsshouldconsulttheTechnicalCommittee(TC)priortothecompetition.2.2.5Forthesafetyofparticipantsandspectators,onlylasersofclass1and2areallowed.Thiswillbecheckedduringinspection.Teamsusinglasersmustbeabletoshowthesensor’sdata/informationsheet.2.2.6BluetoothClass2,3andZigBeecommunicationsaretheonlywirelesscommunicationtypesallowedinRoboCupJunior.RobotsthathaveothertypesofwirelesscommunicationswillneedtoberemovedordisabledtopreventpossibleinterferencewithotherleaguescompetinginRoboCup.Iftherobothasequipmentforotherformsofwirelesscommunication,theteammustprovethattheyhavebeendisabled.Robotsthatdonotcomplymayfaceimmediatedisqualificationfromthetournament.2.2.7Robotsmayincurdamagebyfallingoffthefield,makingcontactwithanotherrobot,ormakingcontactwithfieldelements.Theorganizingcommitteecannotanticipateallpotentialsituationswheredamagetotherobotmayoccur.Teamsshouldensurethatallactiveelementsonarobotareproperlyprotectedwithresistantmaterials.Forexample,electricalcircuitsmustbeprotectedfromallhumancontactanddirectcontactwithotherrobotsandfieldelements.2.2.8Whenbatteriesaretransportedormoved,itisrecommendedthatsafetybagsbeused.Reasonableeffortsshouldbemadetoensurethatrobotsavoidshortcircuitsandchemicalorairleaks.

2.3Team2.3.1Eachteammusthaveonlyonerobotinthefield.2.3.2Eachteammusthavebetween2and4members.2.3.3Astudentcanberegisteredononlyoneteam.2.3.4Eachteammemberwillneedtoexplaintheirworkandshouldhaveaspecifictechnicalrole.2.3.5Ateamisonlyallowedtoparticipateinoneleague:RescueLineorRescueMazeorRescueSimulation.2.3.6AllteammembersmustbethecorrectageasstatedontheRCJwebsite:http://junior.robocup.org/robocupjunior-general-rules/.2.3.7Mentors/parentsarenotallowedtobewiththestudentsduringthecompetition.Thestudentswillhavetoself-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.2.4.7Allteamsmustsubmittheirsourcecodepriortothecompetition.Thesourcecodewillnotbesharedwithotherteamswithouttheteam’spermission.

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2.4.8Allteamsmustsubmittheirengineeringjournalpriortothecompetition.Thejournalswillnotbesharedwith

otherteamswithouttheteam’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.3.2.2Thecaptaincanmovetherobotonlywhentheyaretoldtodosobythereferee.3.2.3Otherteammembers(andanyspectators)withinthevicinityoftherescuefieldhavetostandatleast150cmawayfromthefieldwhilearobotisactive,unlessotherwisedirectedbythereferee.3.2.4Nooneisallowedtotouchthefieldsintentionallyduringascoringrun.

3.3StartofPlay3.3.1Arunbeginsatthescheduledstartingtimewhetherornottheteamispresentorready.Starttimeswillbepostedaroundthevenue.3.3.2Oncethescoringrunhasbegun,therobotisnotpermittedtoleavethecompetitionareaforanyreason.Eachrunlastsamaximumof8minutes.3.3.3Calibrationisdefinedasthetakingofsensorreadingsandmodifyingarobot’sprogramtoaccommodatesuchsensorreadings.Teamsmaycalibratetheirrobotinasmanylocationsasdesiredonthefield,buttheclockwillcontinuetorun.Robotsarenotpermittedtomoveontheirownwhilecalibrating.3.3.4Calibrationinvolvingpre-mappingthefieldand/orvictims’locationisprohibited.Pre-mappingactivitieswillresultinimmediaterobotdisqualificationfortheround.

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3.3.5Beforeascoringrunbegins,therefereewillrollastandard6-sideddicetodeterminethelocationoftheblackandsilvertiles.Thepositionoftheblacktileswillnotberevealedtotheteamuntiltheyarereadytostartascoringrun(see3.3.7).Refereeswillensurethecombinationofblacktileplacementsinafieldlayoutis'solvable'beforearobotbeginsascoringrun.3.3.6Beforeascoringrunbeginsthejudgecanchangeanywallsofthefield,(see1.3.4).3.3.7Oncetherobotisstarted,arefereewillplacetheblackandsilvertiles.3.3.8Onceascoringrunhasbegun,noadditionalcalibrationispermitted(thisincludeschangingofcode/codeselection).

3.4Gameplay3.4.1Modifyingtherobotduringascoringrunisprohibited,whichincludesremountingpartsthathavefallenoff.3.4.2Anypartsthattherobotlosesintentionallyorunintentionallywillbeleftinthefielduntiltherunisover.Teammembersandjudgesarenotallowedtoremovepartsfromthefieldduringascoringrun.3.4.3Teamsarenotallowedtogivetheirrobotanyadvanceinformationaboutthefield.Arobotissupposedtorecognizethefieldelementsbyitself.3.4.4A“visitedtile”meansthatmorethanhalfoftherobotisinsidethetilewhenlookingfromabove.

3.5Scoring3.5.1Arobotcancarryoutoneorbothofthefollowingactionstosuccessfullyidentifyavictim:

a) stopfor5secondswithin15cmofthevictimandblinkavisualindicatoronandoffforthefull5seconds.b) Stopfor5secondsanddeployarescuekit(see3.5.3)within15cmofthevictim.N.B.:Thevisualindicatormustbeplacedinaclearlyvisiblearea.

3.5.2PointsarerewardedpointsforeachSuccessfulVictimIdentificationinthefield:a) 10pointspervictimlocatedonatileadjacenttoalinearwall(evendiagonally),i.e.allvictimsatthe6tiles

aroundalinearwall.b) 25pointspervictimonotherwalls.

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Intheabovediagram,redlinesrepresentfloatingwallswhiletheblacklinesrepresentlinearwalls.Notethatsomeofthevictimsonthefloatingwallsareworth10points,thisisbecausethe10pointsvictimsarelocatedinatilenearalinearwall.Thecoloursonthediagramarejustforillustrativepurposes.Thefielddesignermustkeepinmindthisrulewhendecidingonthelocationoftheblacktiles,whichcanbechangedduringtherunviaadiceroll;inordertokeepthemaximumscoreconsistent3.5.3Tosuccessfullydeployarescuekit,arobotmustdeploy(deploymentpoint)arescuekitwithin15cmofthevictim.Thedeploymentpointisdeemedtobethelocationwheretherescuekitmakesinitialcontactwiththefloor,itisnotthefinalrestingplaceoftherescuekit.3.5.410pointsareawardedpersuccessfulrescuekitdeployment.Thefollowingamountsofrescuekitscanscorepoints:

• Heatedvictims:onerescuekitpervictim.(Maximumpointsforrescuekitdeploymentpervictim:10points.)

• Visualvictims:a) Harmed(H):tworescuekits.(Maximumpointsforrescuekitdeploymentpervictim:20points.)b) Stable(S):onerescuekitpervictim.(Maximumpointsforrescuekitdeploymentpervictim:10points.)c) Unharmed(U):zerorescuekitspervictim.

3.5.5Pointswillbeawardedforvictimidentificationandrescuekitdeployment.3.5.6ReliabilityBonus=thenumberof‘successfulvictimidentification’x10+thenumberof‘successfulrescuedeployment’x10,minusthenumberof‘LackofProgress’x10.However,ReliabilityBonusscorecanonlybereducedtotheminimumof0points.3.5.7SuccessfulSpeedBumpCrossing.Foreachtilewithspeedbumpspassed,arobotisawarded5points.3.5.8SuccessfulUpRampNegotiation.Arobotisawarded20pointsforasuccessfulclimbuparamp.Tosuccessfullyclimbuparamp,arobotneedstomovefromthebottomhorizontaltilebeforetheramptothetophorizontaltileaftertheramp.3.5.9SuccessfulDownRampNegotiation.Arobotisawarded10pointsforsuccessfullylandingatthebottomofaramp.Arobotneedstomovefromthetophorizontaltileoftheramptothebottomhorizontaltileoftheramp.Asuccessfullandingmeansthattherobotcanleavethetilewithoutassistance.3.5.10SuccessfulCheckpointNegotiation.Arobotisawarded10pointsforeachvisitedcheckpoint.Referto3.4.4fordefinitionofvisitedtile.3.5.11SuccessfulExitBonus.Arobotisawarded10pointsforeachvictimsuccessfullyidentified(see3.5.1).The“exitbonus”conditionissatisfiedwhentherobotreturnstothestartingtile,staysthereforatleast10secondstocompletethescoringrun.3.5.12Tiesattheend.Tiesinscoringwillberesolvedbasedonthetimeeachrobottooktocompletetherun.3.5.13Noduplicaterewards.Forexample,ifarobotsuccessfullycrossesatilewithspeedbumpsmultipletimes,onlyonesuccessfulspeedbumpcrossingwillberewardedpertile.Thesameresultappliestoallotherscoringrules.3.5.14Misidentification.Ifarobotidentifiesavictimthroughmethodsoutlinedin3.5.1,butisoutsidethe15cmradiusofanyvictim,5pointswillbededucted.Thisdoesn’tapplytodeliveringtheincorrectnumberofrescuekitstovisualvictims.Thetotalpointswillnevergobelowzeropoints.

3.6LackofProgress3.6.1ALackofProgressoccurswhen:

a) theteamcaptaindeclaresaLackofProgress.b) arobotfailstoretreatfroma“visited”blacktile.Forasuccessfulretreat,therobotneedstobackup

withoutturninginsidetheblacktile(ithastomovestraightbackwardsinsideofablacktile).Seedefinitionofvisitedtileonrule3.4.4.

c) arobotdamagesthefield.d) ateammembertouchesthefieldortheirrobotwithoutpermissionfromareferee.

3.6.2Intheeventofalackofprogress,therobotmustreturntothelastvisitedcheckpoint(orthestarttileifneverreachedacheckpoint).Therobotcanbeinstalledinanydirection.Forthedefinitionofthevisitedtile(see3.4.4).

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3.6.3AfteraLackofProgress,theteammayresetthepowersupply(turntherobotoffandon)andsubsequentlyrestarttheprogram.Theteamisnotallowedtochangetheprogram,giveanyinformationaboutthefieldtotherobot,orrepairtherobot.Teamsmustnotifythejudgepriortotheirrunwhatprocedurewillbeperformedwhenalackofprogressoccurs;teamsmuststicktothismethodregardlessofthesituation.

3.7EndofPlay3.7.1Ateammayelecttostoptheroundearlyatanytime.Inthiscase,theteamcaptainmustindicatetotherefereetheteam'sdesiretoterminatetherun.Theteamwillbeawardedallpointsearneduptothecallfortheendoftheround.3.7.2Theroundendswhen:

a) thetimeexpires.b) theteamcaptaincallsendofround.c) therobotreturnstothestarttileandgetstheexitbonus.

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) simplicityd) functionality

4.2.2Your“work"caninclude(butisnotlimitedto)oneofthefollowingaspects:a)creationofyourownsensorinsteadofapre-builtsensorb)creationofa"sensormodule"whichiscomprisedofvariouselectronicsresultinginaself-containedmoduletoprovideacertainfunctionalityc)creationofamechanicalinventionwhichisfunctional,butoutoftheordinaryd)creationofanewsoftwarealgorithmtoasolution4.2.3Teamsmustprovidedocumentsthatexplaintheirwork.Eachinventionmustbesupportedbyconcisebutcleardocumentation.Thedocumentsmustshowprecisestepstowardsthecreationoftheinvention.4.2.4Documentsmustincludeoneposterandoneengineeringjournal(seetheEngineeringJournalTemplateonofficialRCJwebsiteformoredetails).Teamsshouldbepreparedtoexplaintheirwork.

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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.5.2.2Ifnecessaryevenduringatournament,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,fairandmostimportantlyfun.

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6.1.3Itisnotwhetheryouwinorlose,buthowmuchyoulearnthatcounts!

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

6.3Behaviour6.3.1EachteamisresponsibleforverifyingthelatestversionoftherulesontheRoboCupJuniorOfficialwebsitepriortothecompetition.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.

6.4Mentors6.4.1Adults(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.6.5.2RoboCupJuniorreservestherighttorevokeanawardiffraudulentbehaviourcanbeprovenaftertheawardceremonytakesplace.6.5.3Ifitisclearthatamentorintentionallyviolatesthecodeofconduct,andrepeatedlymodifiesandworksonthestudents'robot(s)duringthecompetition,thementorwillbebannedfromfutureparticipationinRoboCupJuniorcompetitions.

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6.5.4Teamsthatviolatethecodeofconductcanbedisqualifiedfromthetournament.Itisalsopossibletodisqualifyasingleteammemberfromfurtherparticipationinthetournament.6.5.5Inlessseverecasesofviolationsofthecodeofconduct,ateamwillbegivenawarning.Insevereorrepeatedcasesofviolationsofthecodeofconduct,ateamcanbedisqualifiedimmediatelywithoutawarning.

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