MODERN WARFARE

1. INTRODUCTION It is the year 2050 and we are on a war with foreign living beings. They once entered our city while we were unaware of the attack. They entered in our city in tanks and left bombs and mines in our cities. Their tanks left markings on the path that they covered. The bombs that they left can explode any time. These bombs need to be diffused at the earliest. This high- risk job needs to be planned out, focusing on precision and safety. Hence the well-known company Shaastra was called on for solving this issue. Its engineers are ordered to make automatic nonP-human robots that can track the path, detect the bombs and diffuse them.

2. MISSION The Mission requires the completion of the following tasks: (each team needs to build two autonomous robots). NOTE: - teams can complete the mission using the principle of image processing as well as without it. Its completely up to the team to use either or to use the combination of both. 2.1 The Saviour Robot Tasks: 2.1.1 The autonomous robot-1 (the saviour robot) starts from zone 1. 2.1.2 It has to move on the markings left by the foreign tanks. 2.1.3 The markings are black and white lines that are perpendicular to the motion of robot. 2.1.4 On the way it is faced by similar looking but of different size stones or bombs. It will face a total of four objects (including the stones and bombs). 2.1.5 The robot has to detect the different between the both and take the required actions. 2.1.6 The robot has to pick up/push the stones and keep them on the left side of the path. 2.1.7 The robot has to pick up/push the bombs and keep them on the right side of the path. 2.1.8 At the end of this path the saviour robots enters into zone 3 and its task ends. 2.1.9 If the robot moves away from its path, i.e. if it extends outside the border, then it can restart from last check point. A black line just before the initial position of the block or a stone is considered as check point. The end of this path is the last check point. So there will be a total of five checkpoints. 2.2 The Tunnel Robots Tasks: 2.2.1 In the meanwhile the autonomous robot-2 (the tunnel robot) starts from zone 2. 2.2.2 The tunnel bot has to move under the tunnel and cover the path, without touching the tunnel. 2.2.3 At the end of the path the robots meet a river. The robot has to cross the river using a selfbalancing bridge. The robot has to pull the bridge down and cross it. The bridge has roof over it. 2.2.4 At the end of the bridge the tunnel bot enters into zone 3. 2.2.5 Zone 3 is a clear ground with four bombs lying at random positions. 2.2.6 The Tunnel robot has to pick up all four bombs and its task ends. 3. ARENA DESCRIPTION The Game Field consists of a Game Area having the dimension of 3000 mm x 3000 mm and is surrounded by a wooden fence with a height of 50 mm and a thickness of 10 mm. Background of the arena is white coloured vinyl sheet. Boundaries and separations in the arena are black in colour. The game field consists of the following two pathways. 3.1 Saviour Robots Path 3.1.1 The start zone of the saviour robot is a square of dimensions 250 mm x 250 mm. 3.1.2 The path of the saviour robot is 300 mm wide. It is marked with black and white lines. The lines are perpendicular to the motion of the robot. The lines are 25.4 mm thick. 3.1.3 The path has 4 objects, 2 bombs and 2 Stones. 3.1.4 The dimension of bomb is 100 x 100 x 100 mm. It is marked with Red label on top surface. 3.1.5 The dimension of Stone is 50 x 50 x 100 mm. It is marked with a Green label on top surface.

3.2 Tunnel Robots Path: 3.2.1 The start zone of the tunnel robot is a square of dimensions 300 mm x 300 mm. 3.2.2 The path for the tunnel robot is a roof that is 10cm wide. The robot has to move under that roof. Roof is covered with black vinyl sheet. The roof is at a height of 260 mm from ground. 3.2.3 The tunnel robot has to cross the bridge of 600 mm x 500 mm. The bridge will be balancing horizontally on a wall of height 5.5cm. The slope of the bridge is 10 deg. (The bridge is rotatable in direction of locomotion of robot) 3.2.4 Supports of the roof are cantilever beams of white colour. 3.3 Zone 3 - Storage Zone: 3.3.1 Zone 3 is a clear ground (white in colour) of 1250 mm x 1250 mm with four bombs kept on random positions. The maximum distance between the two bombs is 600 mm. Note:- The curves of the Tunnel Robots path and the Savior Robots path will not be the same as shown in the arena. Please note the paths shown are just the sample paths, they may change. Game field dimensions are subject to a tolerance of 5%.

Figure 1. Isometric view of the arena

4.

GAME PROCEDURE:
4.1 Each trial lasts for 5 minutes. 4.1.1 After the task of Savior robot is completed, it can go into Storage zone (zone 3) and pick up bombs, to help the Tunnel robot in getting the bomb. 4.1.2 Similarly, after the Tunnel robot completes its task, it can go into the Savior robots path and push/pick up bombs or stones, so that the city is safe. The Tunnel robot has to keep the bombs/stones on the correct side with respect to the Saviour Robot. 4.2 In the following cases, a match ends before the completion of 5 minutes: 4.2.1 When the team successfully completes all the tasks and is declared the Winner. 4.2.2 In case of disqualification (Refer Rules and Regulations section). 4.3 Sixty seconds shall be provided for setting up of robots before the match. 4.4 Only two members of each team will be allowed to enter the game arena. 4.5 Only one team member is allowed to control one robot. 4.6 The robots shall be placed in their respective starting zones at the beginning of the match.

Figure 2. Top view of the arena

Figure 3. Top view of the arena with dimensions

5.

SCORING:
5.1 Savior robot : 5.1.1 50 points for pushing the bomb or stone to correct side. 5.1.2 -20 points for pushing the bomb or stone to the wrong side or pushing it along with the robot for more than 20 cm. 5.1.3 30 points for crossing each check points in the path. There will be 5 check points. 5.1.4 -20 points for coming out of the path boundary. 5.1.5 100 points for successfully completing the path without any resets or violations. 5.2 Tunnel Robot : 5.2.1 25 points for crossing check points while following roof. There will be 4 check points. 5.2.2 -20 points for coming out of the path. 5.2.3 -20 points for touching the roof. 5.2.4 50 points for crossing the bridge. -25 points for manually pulling the bridge down. 5.2.5 50 points for picking up each block. (20 points - reaching and touching, 30 points picking up). Note: once the Tunnel Robot touches a block in the storage zone (zone 3), teams can ask the coordinators to pick it up and only 20 points will be awarded for that block. 5.2.6 100 points for successfully completing the path without any resets or violations. Note: - Robots damaging the arena in any form will lead to immediate disqualification.

RULES AND REGULATIOINS FOR IMAGE PROCESSING

6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 The robots should be completely autonomous; the operators are not allowed to press any key of their laptop while the bot is operating. The coordinators have the right to check for an ambiguity. Two overhead cameras will be provided over the arena. The model no. of the camera and the software will be provided soon on the website. Teams are allowed to use an on-board camera brought by them as well. Only one on-board camera is allowed per robot. Each robot can have a single bunch of wired communication link to allow remote computing of the on-board camera feed. Minimum length of the wire should be 2m. Any external manual signal given to the robot will lead to immediate disqualification. Use of following software for image processing is allowed :OpenCV, VC++, Matlab, Scilab Teams have to get their own laptops and are responsible for any problems with their laptops during the event. I case of any such issue they should solve it themselves.

RULES AND REGULATIONS :

7.1 7.2 7.3 7.4 7.5 The maximum dimension of Savior robot is 250 x 250 x 250 mm. The maximum dimension of Tunnel robot is 300 x 300 x 300 mm. Maximum voltage between any two points in robot is 12 V. One operator is allowed for each robot. Operator is permitted to switch on a single switch after the match starts. Whenever the robot needs to reset, he/ she is allowed to pick up and place robot in previous checkpoint, in the same direction as it reached it there previously, after calling for a reset to the coordinator in-charge. 7.6 Touching / moving the robot without informing the coordinator will lead to a violation. 7.7 Authenticity of any action not described in this rule book shall be subject to discretion of referees.

Note: - Problem Statement, Rules and Scoring may change and all changes shall be reflected in the Shaastra website. Hence the teams are responsible for keeping themselves well informed about the event. Keep visiting the website www.shaastra.org for updates regarding the event. For any queries please mail robotics@shaastra.org with the subject as Query :< query-topic>.