Changes between Version 4 and Version 5 of robocupLogisticsLeague/2021RCAP/rulebook


Ignore:
Timestamp:
11/24/21 19:20:35 (3 years ago)
Author:
Wataru UEMURA
Comment:

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  • robocupLogisticsLeague/2021RCAP/rulebook

    v4 v5  
    5050= Competition Area / 競技エリア =
    5151== Field Layout / フィールドのレイアウト ==
     52[[Image(figure1.jpg, 320px, align=right)]]
    5253The competition area for the main challenges consists of a 5x5 [m]
    5354area divided in square zones of 1x1 [m]. Additional challenges that
    … …  
    5657regular RCLL field).
    5758The field is a subset of the magenta-half of the regular field as depicted
    58 in Figure 1.
    59 
    60 \begin{figure}
    61         \centering
    62         \begin{tikzpicture}[x=-1cm,y=1cm]
    63         \fill[gray!50!white] (2,0) rectangle (5,1);
    64         \node at (3.5,0) [anchor=south, font=\tiny, inner sep=1pt] {Insertion Zone};
    65         \foreach \i in {0,...,5} {
    66                 \draw (0,\i) -- (5,\i);
    67                 \draw (\i,0) -- (\i,5);
    68         }
    69         \foreach \i in {1,...,3} {
    70                 \node at (1.5+\i,0.5) [circle,fill=magenta, draw=black,inner sep=0.2cm] {};
    71         }
    72         \foreach \x in {1,...,5} {
    73                 \foreach \y in {1,...,5} {
    74                         \node[font=\tiny,anchor=north west, inner sep=1pt] at (\x,\y) {M\_Z\x\y};
    75                 }
    76         }
    77         \node at (0,0) [circle,fill,inner sep=1.5pt,
    78                 label={[font=\scriptsize]-45:$(0,0)$}]{};
    79         \node at (5,0) [circle,fill,inner sep=1.5pt,
    80                 label={[font=\scriptsize]225:$(-5,0)$}]{};
    81         \node at (5,5) [circle,fill,inner sep=1.5pt,
    82                 label={[font=\scriptsize]135:$(-5,5)$}]{};
    83         \node at (0,5) [circle,fill,inner sep=1.5pt,
    84                 label={[font=\scriptsize]45:$(0,5)$}]{};
    85         \draw[line width=2pt,red,->] (0,0) -- node[above left,pos=1] {$x$} (-1.5,0);
    86         \draw[line width=2pt,red,->] (0,0) -- node[below left,pos=1] {$y$} (0,1.5);
    87 \end{tikzpicture}
    88         \caption{The \SI{5 x 5}{\metre} playing field.}
    89         \label{fig:challenge-field}
    90 \end{figure}
     59in Figure 1.[[br]]
     60メイン課題の競技エリアは，5x5 [m] のエリアで1x1 [m] の正方形で分割されています．
     61競争の得点にカウントされない追加のチャレンジは，代わりに7x8 [m]のフィールドで実行します（通常のRoboCup Logistics League（RCLL）のフィールドの半分に対応します）．
     62このフィールドは，図1に示すように、通常のフィールドのマゼンタ側の半分です．
    9163
    9264The entire area belongs to a single team. The bottom left-most
    93 \SI{1 x 3}{\metre} area is called the insertion zone and provides the starting
     651x3 [m] area is called the insertion zone and provides the starting
    9466positions for up to three robots.
    9567Contrary to the full RCLL field, it is not necessary to build partial walls
    9668around the insertion zone and robots may be move freely in and out of the
    97 insertion zone.
     69insertion zone.[[br]]
     70エリア全体が1つのチームに割り当てられています．
     71左下の1x3 [m]の領域は挿入ゾーンと呼び，最大3台のロボットの開始位置になります．
     72通常のRCLLのフィールドとは異なり，挿入ゾーンの周囲に部分的な壁を構築する必要はなく，ロボットは挿入ゾーンの内外を自由に移動できます．
    9873
    9974Teams can play as either cyan or magenta, but the field is always the magenta
    10075one depicted in \reffig{fig:challenge-field}. Machine positions published by
    10176the refbox place the machines of both teams on the same location (e.g., M-BS
    102 and C-BS are both placed at $\texttt{M\_Z12}$ in the field of
    103 \reffig{fig:grasping-field}).
     77and C-BS are both placed at M_Z12 in the field of Figure 2.
    10478
    10579== Mockup Machines ==