<This page is a work in progress. Competition descriptions may change throughout the semester.>
The first competition will be divided along the different groups. Each group will have its own competition, with prizes given for winners in each group.
Down the simulation routines target_tracking.zip. Unzip in a directory and change the name of the file autopilot_gutted.m to autopilot.m. Modify autopilot.m to include your autopilot for the quadrotor. The goal of the competition is to track the moving target with the lowest possible total tracking error and with the fastest possible target speed. The score for this competition will be computed as follows:
Define: E_i = total tracking error when target speed is V=0.1 (team i).
Define T_i = fastest target speed where target does not go outside field of view of camera (team i).
score = [1-E_i/(sum_j E_j)] + [T_i/(sum_j T_j)].
The highest score wins.
Download the simulation routines attitude_estimation_competition.zip. Unzip in a directory and change the name of the file estimate_states_delay_gutted.m to estimate_states_delay.m and add your state estimation routine. The goal of the competition is to achieve the lowest state estimation error with the largest camera delay. The score for this competition will be computed as follows:
Define E_i(T_cam)=total state estimtion error when the camera sample rate (and delay) is T_cam.
score = [1-E_i(1/30)/(sum_j E_j(1/30))] + [1-E_i(1/10)/(sum_j E_j(1/10))] + [1-E_i(1/3)/(sum_j E_j(1/3))].
The highest score wins.
This is the point allocation for the vision group. There is a maximum of 30 points awarded to the vision group.
Color Segmentation:
2 points will be awarded per color "blob" that is detected in real-time. Max 10 points. (i.e. the best system will automatically segment out 5 distinct colored blobs in real-time)
Object Localization
2 points will be awarded per color "blob" where the mean location of that blob is found. Max 10 points. Part of your points are based on convincing someone (the instructors or the TAs) that your system is working.
Pose Estimation
10 points will be awarded to any team that can use their color segmentation and object localization code to determine, in real-time, the location and pose of the camera. Part of your points are based on how you convince us it is working.
Quadrotor designs will be judged on the three criteria:
1. Weight (5 pt.) - Quadrotors will be ranked according to weight, with the lightest quadrotor receiving 5 points, and the heaviest quadrotor receiving 1 point.
2. Design (5 pt.) - The design and construction of each quadrotor will be judged subjectively. Criteria will include originality, stiffness, potential crash tolerance, protection of key components, quality of construction, etc.
3. Flight Stability (5 pt.) - Each quadrotor will be flown remotely by a T.A. The quadrotors must have the motors, motor drivers, and batteries in place. An autopilot will be provided by the T.A. for the remote control flight test.
The robots can be tethered for this competition. Each team will receive a score of 1-10 from the judges for their performance on (1) roll and pitch stability, (2) position tracking, (3) altitude tracking, (4) direction tracking. The team with the best score wins.
This competition will require untethered flight, tracking a slowly moving target on the ground, possibly an RC car. Each team will receive a score of 1-10 from the judges for (1) mechanical design, (2) roll and pitch stability, (3) position tracking, (4) altitude tracking, (5) direction tracking. The team with the best score wins.
Your placing in this competition, will determine your partners from the Robot Racers senior project. First place teams will be paired together, second place teams will be paired together, etc.
Teams will compete one at a time. We will have very simple race track (at least one curve). One team member will drive an RC car around the race track. The quadrotor must follow at an altitude of five feet. The score is based on the time through the course. Shortest time wins.
This will be the first competition where robots and quadrotors are paired together.
Teams will compete one at a time. We will have simple race track with at least two color markers. The robot must maneuver through the course with the quadrotor following. The score is based on the time through the course. Shortest time wins.
This competition will be a dress rehursal for the final competition. We are hoping to conduct this competition in the Garden Court, and may change the time to the evening for flexibility.
<More to come.>
The official rules for the final competition are still being determined. Here is what we currently expect:
1. We will set up a course marked by five foot high color markers. The markers will be a single pole that is colored from the ground to the top.
2. There will be a start line and a finish line.
1. The competition will consist of a series of races.
2. Each race will pit one team against another. The first team across the finish line wins!
3. The competition will be a double elimination format.
1. Ground robots and quadrotors must traverse, and finish the course together. Explicit communication between the quadrotor and the ground robot is allowed (but not required).
2. The robot-quadrotor team must pass on a particular side of the markers (to be determined later).
3. The quadrotor must stay below five feet, and must fly at all times in the race. If the quadrotor touches the ground, that team forfeits the match.