Accelerating the Development of Mobile Robotics Technology

 Possible Competition Tasks

Sensor Odometry

This task is for teams that do not yet have a functional mobile robot.  This capability could be invaluable for any vehicles that ever experiences a loss of GPS signal or gyro/INS drift:

  • Each team will supply a sensor platform tray that contains their computer and sensors.

  • Navigation instruments such as a GPS, INS, or digital compass will not be allowed.

  • Examples of allowed sensors include webcams, stereo webcams, laser rangefinders, ultrasonic rangefinders, or structured light (webcam) rangefinders.

  • There will be a mobile robot base at the contest that will be used by all teams.

  • The sensor platform will be placed on top of this base.

  • Size and weight limits for the sensor platform will be specified in advance.

  • There will not be any data or electrical connections between the robot base and the sensor platform. 

  • The robot base will run along an unspecified course over a flat two-dimensional surface.

  • The objective for the team will be for their sensor platform to accurately determine the position and heading of the robot along the course trajectory.

  • BONUS:  This event could also incorporate a Scavenger Hunt.

    • Teams will also receive bonus points for recognizing pre-specified target objects along the course.

    • Further bonus points will be awarded to teams that are able to determine that a recognized target object was previously sighted on this course.

 

Kidnap Problem

This task demonstrates basic space mapping and navigation capabilities.  It can also be used to  demonstrate the ability to recognize locations:

  • Each team will supply a robot.

  • The robot will be placed at a location in a room beforehand, turned on, and allowed to explore for 15 minutes.

  • The robot will then be turned off and repositioned elsewhere in that room or a connected room.  The robot will return to the original location, taking the shortest path.

  • Challenge Level 1: The lighting and objects in the room have not changed when the robot is returning to the original location.

  • Challenge Level 2: A door has been opened and the robot restarts in a connected room that it has not yet explored.

  • Challenge Level 3: When returning to the original location, the lighting in the room has changed.

  • Challenge Level 4: When returning to the original location, the furniture has been displaced.

  • Challenge Level 5: The room contains dynamic lighting and objects.

 

Scavenger Hunt

This task demonstrates three dimensional object recognition:

  • Each team will supply a robot.

  • Teams will be supplied with multiple images of several target objects.

  • The robot will enter a room where one or more of the objects are located.  The robot must locate and record an image of all instances of the object within 15 minutes.

  • Challenge Level 1: The room contains one or more object.

  • Challenge Level 2: The room also contains decoys such as mirrors or flat photographs of the object.

 

Find the Bomb

This task demonstrates detailed three dimensional object mapping:

  • Each team will supply a robot.

  • The robot will enter a room and will be allowed 15 minutes to become familiar with the arrangement and contents of the room.

  • After the robot exits the room, a "bomb" is placed in the room.  This will be a package with minimum dimensions of perhaps 6"x6"x6".

  • The robot enters the room again and will have 15 minutes to locate the "bomb" before it explodes.

  • Challenge Level 1: When the robot re-enters the room nothing else has changed.

  • Challenge Level 2: When the robot re-enters the room the lighting conditions have also changed.

  • Challenge Level 3: When the robot re-enters the room the furniture has also been displaced.

 

Obstacle Course

This task demonstrates the basic ability to understand mechanical interactions between the mobile robot and three-dimensional objects.  It can be included as an extension of the Kidnap Problem.

  • The robot will be placed at an initial location in a room beforehand, turned on, and allowed to explore the room for 15 minutes.

  • The initial exploration may include the robot pushing or bumping various objects such as boxes, balls, or doors.

  • The robot will be turned off and repositioned elsewhere in that room or a connected room.

  • The robot will take the shortest path to the initial location.