RoboCup@Home Rules & Regulations Version: 2010 Revision: 127M Last Build Date: June 13, 2010 Time: 1104 RoboCup@Home Rulebook / Working Version for RoboCup 2010 Singapore (Revision: 127M ) Acknowledgments We would like to thank all the people who contributed to the RoboCup@Home league with their feedback and comments. We also like to thank the members of the technical committee who put up the rules and the organizing committee who organizes the compe- tition. People that have been working on this rulebook as member of one of the league's commit- tees: Daniele Nardi Komei Sugiura Jean-Daniel Dessimoz Thomas Wisspeintner Peter Ford Dominey Tijn van der Zant Luca Iocchi Amin Yazdani Javier Ruiz-del-Solar Dirk Holz Paul E. Rybski Gerhard Kraetzschmar Jesus Savage David Gossow Stefan Schiffer Sven Olufs RoboCup@Home Rulebook / Working Version for RoboCup 2010 Singapore (Revision: 127M ) CONTENTS i Contents Contents i 1 Introduction1 1.1 RoboCup.....................................1 1.2 [email protected] 1.2.1 What is [email protected] 1.3 Organization...................................1 1.3.1 Executive Committee..........................1 1.3.2 Technical Committee...........................2 1.3.3 Organizing Committee..........................2 1.4 Infrastructure...................................3 1.4.1 RoboCup@Home Mailinglist.......................3 1.4.2 RoboCup@Home Web Page.......................3 1.4.3 RoboCup@Home Wiki..........................3 1.5 Competition....................................3 2 Concepts behind the competition5 2.1 Lean set of rules.................................5 2.2 Autonomy & mobility..............................5 2.3 Aiming for applications.............................6 2.4 Social relevance..................................6 2.5 Scientific value..................................6 2.6 Time constraints.................................6 2.7 No standardized scenario............................6 2.8 Attractiveness...................................7 2.9 Community....................................7 2.10 Desired abilities..................................7 3 Rules 9 3.1 Procedures before the competitions.......................9 RoboCup@Home Rulebook / Working Version for RoboCup 2010 Singapore (Revision: 127M ) 3.1.1 Toward participation...........................9 3.1.2 Team Website and Team Description Paper..............9 3.1.3 Qualification............................... 10 3.2 Scenario...................................... 10 3.2.1 Team area................................. 10 3.2.2 Walls, doors & floor........................... 11 3.2.3 Furniture................................. 11 3.2.4 Predefined objects............................ 11 3.2.5 Predefined locations........................... 13 3.2.6 Predefined names............................. 13 3.2.7 Rooms................................... 13 3.3 Robots....................................... 13 3.3.1 Number of robots............................. 14 3.3.2 Size and weight of robots........................ 14 3.3.3 Emergency stop button......................... 14 3.3.4 Start button............................... 14 3.3.5 Appearance and safety of the robot................... 15 3.3.6 Audio output............................... 15 3.4 External devices................................. 15 3.4.1 Wireless devices............................. 15 3.4.2 Artificial landmarks........................... 15 3.4.3 Computing devices............................ 15 3.4.4 Microphones............................... 16 3.4.5 Wireless network............................. 16 3.5 Organization of the competition......................... 16 3.5.1 Stage system............................... 16 3.5.2 Number of tests............................. 16 3.5.3 Schedule.................................. 17 3.5.4 Score system............................... 17 3.5.5 Open Challenge.............................. 17 3.5.6 Demo Challenge............................. 17 3.5.7 The Finals................................ 17 3.6 Procedures during the tests........................... 18 3.6.1 Safety first!................................ 18 3.6.2 Maximum number of team members.................. 18 3.6.3 Fair play................................. 18 3.6.4 Robot autonomy............................. 19 3.6.5 Traffic rules................................ 19 RoboCup@Home Rulebook / Working Version for RoboCup 2010 Singapore (Revision: 127M ) 3.6.6 Start signal................................ 19 3.6.7 Entering and leaving the arena..................... 19 3.6.8 Gestures.................................. 19 3.6.9 Referees.................................. 20 3.6.10 Moderator................................. 20 3.6.11 Time limits................................ 20 3.6.12 Restart.................................. 21 3.7 Special penalties, bonuses and awards..................... 21 3.7.1 Penalty for not attending........................ 21 3.7.2 Penalty for using start button...................... 21 3.7.3 Bonus for outstanding performance................... 21 3.7.4 Innovation award............................. 21 4 Tests in Stage I 23 4.1 Robot Inspection and Poster Session...................... 23 4.1.1 Focus................................... 23 4.1.2 Task.................................... 23 4.1.3 Remarks.................................. 24 4.1.4 Referee Instructions........................... 24 4.1.5 Score Sheet................................ 25 4.2 Follow Me..................................... 26 4.2.1 Focus................................... 26 4.2.2 Task.................................... 26 4.2.3 Remarks.................................. 27 4.2.4 Referee Instructions........................... 27 4.2.5 Score Sheet................................ 28 4.3 Go Get It!..................................... 29 4.3.1 Focus................................... 29 4.3.2 Task.................................... 29 4.3.3 Remarks.................................. 29 4.3.4 Referee Instructions........................... 30 4.3.5 Score Sheet................................ 31 4.4 Who Is Who................................... 32 4.4.1 Focus................................... 32 4.4.2 Task.................................... 32 4.4.3 Remarks.................................. 33 4.4.4 Referee Instructions........................... 33 4.4.5 Score Sheet................................ 34 RoboCup@Home Rulebook / Working Version for RoboCup 2010 Singapore (Revision: 127M ) 4.5 Open Challenge.................................. 35 4.5.1 Focus................................... 35 4.5.2 Task.................................... 35 4.5.3 Remarks.................................. 35 4.5.4 Score System............................... 35 5 Tests in Stage II 37 5.1 Enhanced Who Is Who............................. 37 5.1.1 Focus................................... 37 5.1.2 Task.................................... 37 5.1.3 Remarks.................................. 38 5.1.4 Referee Instructions........................... 38 5.1.5 Score Sheet................................ 40 5.2 General Purpose Service Robot......................... 41 5.2.1 Focus................................... 41 5.2.2 Requirements............................... 41 5.2.3 Task.................................... 41 5.2.4 Actions and Categories......................... 42 5.2.5 Remarks.................................. 43 5.2.6 Referee Instructions........................... 44 5.2.7 Score Sheet................................ 45 5.3 Shopping Mall.................................. 46 5.3.1 Focus................................... 46 5.3.2 Task.................................... 46 5.3.3 Remarks.................................. 46 5.3.4 Referee Instructions........................... 47 5.3.5 Score Sheet................................ 47 5.4 In the restaurant (Demo Challenge)...................... 48 5.4.1 Focus................................... 48 5.4.2 Task.................................... 48 5.4.3 Remarks.................................. 48 5.4.4 Referee Instructions........................... 48 5.4.5 Score System............................... 49 6 Finals 51 6.1 Changes to the Environment.......................... 51 6.2 General Procedure................................ 51 6.3 Setup and Presentation............................. 52 6.4 Performance.................................... 52 RoboCup@Home Rulebook / Working Version for RoboCup 2010 Singapore (Revision: 127M ) 6.5 Score System................................... 52 6.5.1 Jury Questions.............................. 53 6.5.2 Winner.................................. 53 Abbreviations 54 Index 56 RoboCup@Home Rulebook / Working Version for RoboCup 2010 Singapore (Revision: 127M ) Chapter 1. Introduction 1 Chapter 1 Introduction 1.1 RoboCup RoboCup is an international joint project to promote AI, robotics, and related fields. It is an attempt to foster AI and intelligent robotics research by providing standard problems where a wide range of technologies can be integrated and examined. More information can be found at http://www.robocup.org/. 1.2 RoboCup@Home 1.2.1 What is RoboCup@Home The RoboCup@Home league aims to develop service and assistive robot technology with high relevance for future personal domestic applications. It is the largest international annual competition for autonomous service robots and is part of the RoboCup initiative. A set of benchmark tests is used to evaluate the robots abilities and performance in a real- istic