[robocup-athome] Results of rulebook discussion

[David Gossow]

Hi all,

I've compiled a list of the changes we will make to the rules due to the 
suggestions made in the mailing list.

More details on "General Purpose Service Robot" are currently worked 
out. We hope to finish that work soon and will publish the final 
rulebook as soon as possible.

Regards,
David


RIPS:

* The setup of the scenario will be ready 1 day before the test. No 
major changes will be made to it during that period.
* The poster session takes place in the scenario.
* The evaluation of posters will be done by the other team leaders. 
Every team leader has to fill out a score sheet, giving from 0-10 points 
for the overall quality of the poster of each team.
* During the robot inspection, the TC will ask the robot to move. The 
robot should then start moving, for example heading for the exit. While 
the robot is moving, the tc will push the emergency stop. If the robot 
does not stop immediately, it does not meet the minimum requirements and 
thus is not qualified for the competition.

Follow me:

* The time is very short if we require the robots to not move 
dangerously fast and want to cover a larger distance. On the other hand, 
we could have e.g. 3 teams running in parallel. Thus, we will extend 
this test to 8 minutes.

Go Get It:

* Driving over the objects on the floor is not allowed, except for minor 
collisions.
* To all locations in the scenario, there will always be some path for 
reaching it, without any object blocking it.
* The team chooses 10 objects it can manipulate, the referee chooses 4 
of these as known objects.
* The object identified does not have to be the same as the one grasped.
* If the robot tries to grasping one of the unkown objects, the team can 
not receive points for grasping and bringing a correct one afterwards.
* Multiple tries to grasp objects are allowed, as long if all of them 
are from the list of known objects.

(Enhanced) Who is who:

* The robot may ask a person to look at it for identification when 
standing next to him/her. However, if there is no person, it receives 
the penalty for incorrect human detection.
* The drinks do not have to be handed over to the user. Putting them on 
the ground or asking the user to grab them from some kind of tray is 
allowed.

GPSR

* The commands are given by a team member. He/she has to recite the 
exact sentence which is given to the team.

Shopping mall:

* All objects are from the list of predefined objects for this team.
* The TC will assure that there are reasonable conditions. However, 
there is no guarantee on how the scenario will look like regarding 
spacing, lighting conditions etc. There could be customers in the shop.
* Tijn will contact the according persons beforehand to clarify how far 
the supermarket is away, how we can get the robots there etc.
* There is only one type of object from the list in each shelf. There 
can be many objects objects of that type, e.g. a row of soup cans of the 
same type as the one that has to be grabbbed.
* There will be at least one object of the correct type which is 
positioned such that it can be manipulated.
* There will be 4 locations
* The robot has to get 3 objects
* The operator is a team member
* The operator is allowed to point at the object which can be 
manipulated from a distance of at least 50cm. There is no constraint on 
what kind of pointing gesture to use, e.g. it can be by pointing with a 
finger or by just looking at it.

General rules:

* There will be 20 predefined objects
* The rulebook will include a concrete list of the names used in the 
competition
* There should be a general rule stating that there is a minimum 
distance of e.g. 5cm between objects in all the tests.

Organization:

* There will be one team leader meeting at the beginning of the 
competition, no discussion about the rules after that.
* Next year's TC should contain a woman, to have someone with another 
perspective on things

Registration form:

The form has to be filled out by all teams. All forms will be compiled 
in some folder and used by the referees during the competition.

It contains the following items:

* Team name
* Team leader
* Name of first robot
* Name of second robot
* List of 10 manipulable objects
* Range of possible manipulation heights
* Copy of the full "Safety first" statement
* "I have read and fully understood the "Safety First" statement and 
agree to it. Furthermore, I agree to obey the rules in the official 
RoboCup at Home rulebook."
* Signature of team leader

-- 
David Gossow
Universität Koblenz-Landau, ICV
Universitätsstr. 1
56070 Koblenz
http://robots.uni-koblenz.de