RoboCup Logistics League 2021 世界大会

• 世界大会のLogistics League の情報を載せていきます．

ルール（ドラフト版）

• ルールは，​githubにて更新が進んでいます．
• おそらく，RoboCup Asia Pacific 2021も，このルールに準ずることになると思います．
• 以下は，簡易的な訳ですので，英語版との齟齬がある場合は，英語版が優先されます．ご注意下さい．

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RoboCup Logistics League

• Challenges
  • Rules and Regulations 2021
  • 訳：植村　渉 (Wataru UEMURA)
  • 2021/02/10

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• 以下，2種類の競技について書かれています．ここでは，主競技と副競技として書いていますが，RoboCup JapanOpen 2020のTECで扱った競技が主競技で，世界大会に準じた競技が副競技という位置づけのようです．

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はじめに

私たちの目的は，RoboCup Logistics Leagueでの追加的な競技を形成する独立した競技にて このリーグの主な課題を得ることです． この新しい競技の主な目的は，

• RCLLのそれぞれの課題において各チームの進捗を示し，それを向上させる枠組みを提供することであり，
• 自分たちの研究室にて競技環境を用意するために，簡素化されたコスト効率とスペース効率の高い競技環境を提供することにより，主競技の準備を容易にすることであり，
• 世界中のチームが遠隔で参加できるRoboCup ライブイベントとオンライン競技の両方に対して魅力的であることです．

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競技エリア

フィールドレイアウト

主競技のための競技エリアは，1x1[m]の正方形のゾーンで区切られた5x5[m]のエリアです． 競技の得点に関係しない追加競技は，代わりに7x8[m]のフィールド（RCLLフィールドの半分のサイズ）で実施します． 【ゾーン名のついたフィールドの図が必要】． エリア全部が1チームに割り当てられます（※RCLLでは2チームでフィールドを利用）． 左下の1x1[m]のエリアが投入ゾーンと呼ばれます． その周りは部分的な壁は必要とせず，3台までのロボットがスタートする位置となります．

モックアップマシン

実際のMPSステーションが存在しない場合，レプリカ（モックアップマシンと呼ぶ）を使います． これは，そのMPSに関連する生産過程を物理的に実行する必要はありません． 代わりに，監視者（作業者の項目参照）によって作業が実行されます． モックアップマシンに対する最低限の要求は，以下の通りです．

モックアップマシンは，RCLLのルールブックに示された物と同様に箱のような形をしていないといけません． 【箱の高さはルールブックに書かれておらず，ベルトコンベアまでの高さのみしかない】． 箱の上には，ベルトコンベアのモデルが取り付けられていなければならない． 【モックアップのモデルのファイルとルールブックへのリンクが必要】． CSの代わりとなるステーションには，箱の正面右側に追加の棚を設置しなければならない． 【同様にリンクが必要】． RSの代わりとなるステーションには，棚またはスライドになるものを取り付けることもできます． これらは，箱の正面右側の任意の場所に設置され，正面から利用できる状態にあるべきです． 【同様にリンクが必要】．

モデルの素材は，不透明でなければなりませんが，色に関しては問いません．

全ての主競技で競技するためには，最低3台のモックアップマシンが必要です． 高難易度の競技においては，4台のモックアップマシンが必要で，副競技では7台必要です．

遠隔セットアップ

In case a competition is carried out remotely, a proper local setup has to be established and approved by the organizational committee \todo{or is this TC responsibility?!}. Requirements include a proper camera setup that covers the field sufficiently, such that external viewers can verify the integrity of each challenges, as well as an approval for every mockup machine and robot that is used. \todo{verify correct size specs for field, robots, mockup machines}

\section{Game Play} \subsection{Competition Scope} \todo{X time slots of 10 minute setup time per team, followed by up to 20

minutes of game time. Each slot can be used to solve

at most one challenge, a team can decide to fail a challenge and use another slot to improve. A team can use a single slot to try a challenge multiple times (with the same field layout) once a challenge counts, it cannot be attempted again (unless difficulty is increased).}

All challenges (unless stated otherwise) are conducted while measuring the execution time. The execution time is measured by the RefBox?. The fastest team in any challenge gains additional points.

\subsection{Changes compared to the Main Competition} The tasks covered in the various challenges mostly obey the regular rules for the \ac{RCLL}. However, some aspects are altered to simplify the setup. The changes are not affecting existing machine communication and processing steps, such that the challenges can be carried out on real machines as well as on mockup versions obeying the requirements outlined in \refsec{sec:machines}.

\paragraph{Product Delivery} The delivery procedure for finished products is altered compared to the \ac{RCLL} rule set. In order to reduce the amount of machines required for participation, Deliveries are made by bringing the finished product to the insertion zone and dropping it there.

\paragraph{Ring Payments} Easing the setup of mockup machines, it is not required to have a slide on ring stations. Instead, a shelf may be used to place payments at the corresponding station.

\paragraph{Ring Color Assignment} The cost for mounting each ring color are fixed, the assignment of ring colors is semi-fixed as teams can choose between two different options for each challenge (\texttt{option1} or \texttt{option2} according to \reftab{tab:ring-costs}). \todo{make this configurable in the RefBox?}

\newcommand{\colconfig}{\mathcal{RC}} \begin{table}[!htb]

\centering

\begin{tabular}{l|l|l

l|l

l|l}

& \multicolumn{4}{c

}{Ring Costs}

& \multicolumn{2}{c}{\multirow{2}{*}{Color Assignment }}
\cline{2-5} & Color & Price & Color & Price & \multicolumn{2}{c}{}
\cline{2-7} & Yellow & 0 & Orange & 0 & RS1: $\colconfig_1$ & RS1: $\colconfig_2$
& Green & 1 & Blue & 2 & RS2: $\colconfig_2$ & RS2: $\colconfig_1$
\hline\hline

Configuration & \multicolumn{2}{c& \multicolumn{2}{c

}{$\colconfig_1$}

}{$\colconfig_2$}

& $\texttt{option1}$ & $\texttt{option2}$

\end{tabular} \caption{Materials} \label{tab:ring-costs}

\end{table}

\paragraph{Materials}\label{sec:materials} The available material that can be used per challenge is restricted (unless stated otherwise) per machine according to the information in \reftab{tab:materials}. \begin{table}[!htb]

\centering

\begin{tabularx}{\linewidth}{l|l}

Machine & Available Material
\hline \ac{BS} & 2 bases of each color
\ac{CS} & 3 cap-carriers (cap color choices up to each team)
\ac{RS} & 4 rings of each assigned color (8 in total)

\end{tabularx}

\caption{Materials} \label{tab:materials}

\end{table} \todo{is it actually 4 colors per ring station slot?}

\paragraph{Orders} Unless specified otherwise, orders that have to be fulfilled in challenges are entered through the web shop \todo{link web shop} by any member of the competing team.

In challenges where only one \ac{RS} is present, teams are responsible to order products which can be assembled using the available stations only.

\subsection{Field Operators}\label{sec:operators} In challenges where mockup machines are used, the actual assembly stps have to be performed by human supervisors. Whenever a machine is instructed, the RefBox? operator announces the required interaction. One field operator may proceed to enter the field in order to perform the interaction. Afterwards the field has to be left immediately. The usual rules for replenishing resources (respecting the limited materials \refsec{sec:materials}) apply.

\todo{maintenance rules}

\subsection{Available Challenges for the Primary Competition} Challenges have different types and variations (difficulty levels). The overall score of the competition is calculated by summing up the score in the highest difficulty achieved in each of the challenge types. The challenge types of the competition are described in \refsec{sec:challenge-navigation}-\ref{sec:challenge-markerless}

The RefBox? is used to log the scores and data for each challenge. Once the competition is finished, $5$ bonus points are awarded each time a team solved a challenge on a difficulty in the shortest amount of time. \todo{implement challenges in refbox, provide tool to evaluate results}

\subsubsection{Navigation Challenge}\label{sec:challenge-navigation} Basic navigation task with known obstacles.
\textbf{Task:} Drive three routes, each starting and ending in the insertion zone while covering a given set of target positions. At each target position the robot has to stand still (no moving or rotating) for at least 1 second.
Variations of this challenge depend on the number of available machines (see \reftab{tab:challenge-navigation}). Multiple robots may be used to simultaneously cover different routes. Partial points may be awarded in case only a subset of routes got covered.

\begin{table}[!htb]

\centering \begin{tabular}{l|l|l}

\multirow{2}{*}{Machines} & \multicolumn{2}{c}{Scoring}
\cline{2-3} & first finished route & each other finished route
\hline\hline 2 & 10 & 2
3 & 20 & 2
4 & 25 & 2

\end{tabular} \caption{Navigation Challenge} \label{tab:challenge-navigation}

\end{table}

\subsubsection{Exploration Challenge}\label{sec:challenge-exploration} Replicate the RCLL exploration phase. Machine Marker detection as well as navigational skills are required to solve this challenge.
\textbf{Task:} Find and report all machines on the field (type and orientation).
Variable in the number of machines (see \reftab{tab:challenge-exploration}). \begin{table}[!htb]

\centering \begin{tabular}{l|l}

Machines & Scoring
\hline 2 & 10
3 & 20
4 & 30

\end{tabular} \caption{Exploration Challenge} \label{tab:challenge-exploration}

\end{table}

\subsubsection{Grasping Challenge}\label{sec:challenge-grasping} Simple grasping task. Each Machine has a base at output. Robots start at cell in front of a machine output.
\textbf{Task:} A robot brings a base from one machine's output back to it's input. A human supervisor places it back to the output. Repeat until all products were placed at the respective machines input 3 times and all robots returned to their starting positions.
\todo{improve description} Variations differ by number of machines, see \reftab{tab:challenge-grasping}. The $i$-th repetition is considered to be successful, once all bases were placed at the respective machine input at least $i$ times.

\begin{table}[!htb] \centering

\begin{tabular}{l|l|l}

\multirow{2}{*}{Machines} & \multicolumn{2}{c}{Scoring}
\cline{2-3} & first repetition & each subsequent repititon
\hline\hline 1 & 10 & 2
2 & 20 & 2
3 & 25 & 2

\end{tabular} \caption{Grasping Challenge} \label{tab:challenge-grasping}

\end{table}

\subsubsection{Product Challenges}\label{sec:challenge-cx} This section covers four types of challenges, instead of just a single one. Each challenge corresponds to the production of a product with one of the available complexities (C0, C1, C2, C3) in the \ac{RCLL} using either one or two \ac{RS}.
For complexities C1, C2 and C3 the accumulated cost for mounting the required rings must be equal to 1, 2 and 3, respectively. \textbf{Task:} Produce all posted orders.
\begin{table}[!htb]

\centering \begin{tabular}{l|l|l}

Machines & Challenge type & Scoring
\hline 2 & C0 & 30
3 & C1 & 50
4 & C1 & 50
3 & C2 & 70
4 & C2 & 70
3 & C3 & 100
4 & C3 & 100

\end{tabular} \caption{CX Challenge} \label{tab:challenge-cx}

\end{table}

\subsubsection{Exploration + C0 Challenge}\label{sec:challenge-combine-exp-c0} A simple production task on a field with unknown machine positions. The challenge is to produce a product of complexity C0 without receiving the machine positions at the start of the production phase, resembling a unified exploration and production phase.
\textbf{Task:} Produce all posted orders.
Beating this challenges yields 50 points.

\subsubsection{RefBox? Simulation Challenge}\label{sec:challenge-simulation} A competition on the agent level. The RefBox? provides a set of actions that can be executed by sending dedicated commands to the refbox via protobuf. Hence no actual robot is required to participate. \textbf{Task:} Play a regular RCLL game through the RefBox? simulation interface.
Participating in this challenge yields points based on the achieved in-game points, see \reftab{tab:challenge-simulation}. Additionally, the team scoring the highest points overall gets awarded another $10$ points \begin{table}[!htb]

\centering \begin{tabular}{l|l|l|l}

Points & Scoring
\hline $[0,50)$ & 0
% chktex 9 $[50,150)$ & 20
% chktex 9 $[150,250)$ & 40
% chktex 9 $[250,\infty)$ & 60
% chktex 9

\end{tabular} \caption{CX Challenge} \label{tab:challenge-cx}

\end{table}

\subsubsection{Markerless Detection Challenge}\label{sec:markerless} Image recognition challenge to classify different machine types.
\textbf{Task:} Autonomously label the machines shown in a set of pictures
As a preparation for this challenge, a data set will be supplied to all participants which may be used for training and testing purposes. The evaluation set for the challenge consists of a set of separate images. \todo{pictures with multiple machines} \begin{table}[!htb]

\centering \begin{tabularx}{\linewidth}{l|l|l|l}

\% Correctly Classified & \% Wrongly Classified & \% Not Classified & Scoring
\hline $x$ & $y$ & $z$ & $(x-y)\cdot30$

\end{tabularx} \caption{Machine Detection Challenge} \label{tab:challenge-markerless}

\end{table}

\subsection{Challenges for the Secondary Competition}

\subsubsection{Full game}\label{sec:challenge-full-game} Play a full RCLL game on a field of \SI{7 x 8}{\metre} with $7$ machines (no machines from the opposing team). \todo{relax no-payment and delivery assumption?} \end{document} %chktex 17 © 2021 GitHub?, Inc. Terms Privacy Security Status Docs Contact GitHub? Pricing API Training Blog About