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Ball Moving Challenge
Level-I: With no obstacle
Field Definition:
Positions of a robot, a ball, and target zones are defined as shown in figure 1. Exact coordinates for each position will be defined and announced. Positions denoted by alphabetical characters A to F are robot and ball positions, and X, Y, and Z are target zone.
Fig.1. Field Definition for Level-I
Robot Direction:
The direction of the robot is denoted as shown in figure 2. The direction of the robot is defined as the direction that the robot move at normal forward moving mode. For robots with omni-directional driving mechanism, the direction can be the direction of de fault on-board camera direction. When omni-vision system is used for such a robot, arbitrary direction will be used.
Fig.2. Robot Direction
Session Sequence:
Each session consists of 10 trials. For each trial do followings:
- One Robot is randomly placed one of A - F position with random direction.
- Ball is randomly placed one of A - F position, where robot is not already placed.
- Target Zone is randomly selected from T1, T2, T3.
- With the start signal, the robot is supposed to approach the ball and move it to the assigned target zone or hit the wall in the opponent side.
There are several restrictions in the robot operations and sequence set up. Current restrictions are as follows:
- Instructions given to the robot before the each trial shall be limited to the assigned target zone.
- At least three trial should include robot position in D, E, F, while a ball is in A, B, C.
- At least one trial should be robot at position E and a ball at B.
The first restriction is defined to avoid an operator to instruct robot's motion path manually for each trial. The robot is supposed to find appropriate path by itself.
The second and third restrictions are imposed to examine robot's path planning capability. For these set up, the robot need to move around the ball to place itself to the position behind the ball from the opponent field. A simple reactive robot which rush to the ball would not able to cope with such situations.
Score:
Scores will be rated as follows:
- 10 point for correctly moving ball to defined target.
- 5 point for moving a ball to adjecent zone.
- 2 point for mving a ball to opponent base line.
- No point when time out after defined time.
- Total time is counted.
- Total point / 100 = Accuracy
For example, when a robot position, a ball position, and a target zone are assigned D, B, and X, respectively, the robot must move toward it's own goal to place itself between the ball and the goal, but, perhaps, slightly to the right. The robot shall hit the ball to roll it toward zone X. If the ball hit the wall in zone X, it will get 10 points. If it hits wall in zone Y (in reality, this is a goal area), it will get 5 point.
Level-II: with Stationary Obstacle
Field:
The field is defined as shown in Figure 3. Three obstacle positions are added.
Fig.3. Field with Obstacle
Session Sequence:
Session procedure is similar to Level-I, but randomly place a obstacle in either one of O1, O2, O3. The size of the obstacle is equal to the maximum size of one robot is the corresponding league, and use the color marking for the opponent robot.
- One Robot is randomly placed one of A - F position with random direction.
- A ball is randomly placed one of A - F position, where robot is not already placed.
- An obstacle is randomly placed one of O1, O2, or O3 position.
- Target Zone is randomly selected from T1, T2, T3.
- With the start signal, the robot is supposed to approach the ball and move it to the assigned target zone or hit the wall in the opponent side.
- Instructions given to the robot before the each trial shall be limited to the assigned target zone.
- At least three trial should include robot position in D, E, F, while a ball is in A, B, C.
- At least one trial should be robot at position E and a ball at B.
- At least one trial should be robot at position B, a ball at E, and a obstacle at O2.
Score:
Scores will be rated as follows:
- 10 points for correctly moving ball to defined target.
- 5 points for moving a ball to adjacent zone.
- 2 points for moving a ball to opponent base line.
- No point when time out after defined time.
- -5 points when a ball hit the obstacle.
- Total time is counted.
- Total point / 100 = Accuracy
Level-III: With Moving Obstacle
Field:
The field definition is same as Level-II, shown as Figure 3, but obstacle is moving with predefined programs.
Session Sequence:
In order to predict the motion of the obstacle, which is the virtual opponents, a limited number of practice sequence is allowed.
Practice:
Pre-defined number of practice sequence is allowed. Within the define numbers of trial, an operator is allowed to train the robot with initial robot, ball, and obstacle positions of their choice.
Evaluation:
- One Robot is randomly placed one of A - F position with random direction.
- A ball is randomly placed one of A - F position, where robot is not already placed.
- An obstacle is randomly placed one of O1, O2, or O3 position.
- Target Zone is randomly selected from T1, T2, T3.
- With the start signal, the robot is supposed to approach the ball and move it to the assigned target zone or hit the wall in the opponent side.
Score:
Scoring scheme is same as Level-II.
The Ball Catching Challenge
Evaluation for Situation A (Defender)
Level-I: With No obstacle
Field:
Field is defined as Figure 4. T1, T2, and T3 are initial points of ball trajectory.
Fig.4. Field with Obstacle
Session Sequence:
- Robot is randomly placed in one of A - F.
- Facing direction of the opponent goal.
- A ball is rolled from one of randomly selected position of T1, T2, T3.
- To maintain consistency of the speed, a ball is rolled from special equipment (a slope), with two different heights (change speed).
- Robot is supposed to hit the ball before the ball stops.
Score:
- 10 points: Stopped the ball before the ball touch the wall.
- 5 points: Contact the ball before the ball touch the wall, but ball hit the wall after the contact. If ball stops before hitting the wall, it will be no point even if the robot contact the ball.
- 3 Points: Contact the ball after the ball hit the wall.
- No point: Did not contact the ball until the ball stops.
- -3 point: Did not contact the ball, but it entered its own goal.
- -5 point: Contact the ball and it entered its own goal.
Level-II: With A Stationary Obstable
Field:
O1, O2, and O3 are possible positions of a stationary obstacle.
Fig.5. Field with Obstacle
Session Sequence:
- Robot is randomly placed in one of A - F.
- Facing direction of the opponent goal.
- A ball is rolled from one of randomly selected position of T1, T2, T3.
- To maintain consistency of the speed, a ball is rolled from special equipment (a slope), with two different heights (change speed).
- Robot is supposed to hit the ball before the ball stops.
- Stationary obstacle is placed on O1, O2, or O3 randomly.
Score:
Same as Level-I.
Level-III: With A Moving Obstacle
Field:
Same as Level-II.
Session Sequence:
- Robot is randomly placed in one of A - F.
- Facing direction of the opponent goal.
- A ball is rolled from one of randomly selected position of T1, T2, T3.
- To maintain consistency of the speed, a ball is rolled from special equipment (a slope), with two different heights (change speed).
- Robot is supposed to hit the ball before the ball stops.
- Obstacle is moving with predefined programs
Score:
Same as Level-II.
Situation B (Goal Keeper)
Field:
Set up conditions and evaluation sequences are similar to other sessions discussed already. But, robot and obstacle positions are concentrated near the goal area. From G1 to G5 are possible goal keeper robot positions (figure 6 and 7), and from O1 to O5 are possible obstacle positions (figure 7).
Fig.6. Field Definition for Goal Keeping Situation
Fig.7. Field Definition for Goal Keeping with Obstacle
Session Sequence:
A session sequence is as follows:
- Robot is randomly placed in one of G1 - G5.
- In case of Level-II, -III where obstacle exists, an obstacle is place randomly at any of position from O1 to O5.
- A ball is rolled from one of randomly selected position of A - F.
- To maintain consistency of the speed, a ball is rolled from special equipment (a slope), with two different heights (change speed).
- Robot is supposed to defend the goal.
Score:
Following score scheme is used.
- 10 points: Received the ball and move it quickly to the opponent area (beyond the center line).
- 5 points: Received the ball and move it quickly to the area beyond the obstacle positions.
- 3 Points: Received the ball and clear the ball to the side wall.
- 0 point: Received the ball, but it contacted the obstacle and move to elsewhere (Not entered the goal).
- -3 points: Contact the ball, but the ball entered the goal.
- -5 points: Did not contact the ball and the ball entered the goal.
Situation C (Intercept)
Evaluation sequence of the intercept requires opponent robots which actually moves by pre-programmed sequence. Definition of specific sequence largely depends on the speed and accuracy of prediction and recognition of robot used in the community. A concrete evaluation sequence will be defined in future.
The Cooperative Behavior (Passing the Ball)
Since the challenge with many issues is very hard in the current stage, the Phase I challenge will only check cooperative behavior in a benign environment: two players with equal skills and with no opponents.
Field:
Field is defined as Figure 8. From D1 to D6 are possible defender robot positions, from O1 to O6 are possible opponents positions, and from F1 to F6 are possible forward robot positions. A ball is placed on one of possible defender positions.
Fig.8. Field Definition for Ball Passing
Session Sequence:
- One robot is randomly placed in one of D1 - D6.
- The other robot is randomly place in one of F1 - F6.
- Direction of two robots are defined at random.
- A ball is randomly placed in one of D1 - D6, where robot is not already occupied.
- For Level-II and -III sequence, an obstacle is randomly placed in one of O1 - O6.
- A robot is supposed to hit the ball and the other robot shall receive it.
Score:
- 10 points: Move the ball and pass it to the other robot without hitting the obstacle nor the wall. The robot in F1 - F6 area must stop the ball or goal it after contacting the ball.
- 5 points: Move the ball and pass it to the other robot without hitting the obstacle. The ball may hit the wall during the pass. The robot in F1 - F6 area must stop the ball or goal it after contacting the ball.
- 3 points: Move the ball and pass it to the other robot without hitting the obstacle nor the wall. The robot in F1 - F6 area contacted the ball, but ball hit the side wall.
- No point: Move the ball beyond the center line without hitting the obstacle, but the other robot did not stop the ball nor goal the ball.
- -3 point: The ball hit the obstacle.
- -5 point: Fail to move the ball beyond the centerline within given time.
- -10 points: Fail to contact the ball within given time.
- -10 points: Own Goal.
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