2009 competition
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Graz 2009
The 2009 competition is being held in Graz, Austria.
Important dates:
- symposium submission : February 2, 2009.
- team pre-registration: February 28 2009.
- team description paper deadline: February 28 2009.
- early team registration: April 17 2009.
- regular team registration: May 15 2009.
- competition: June 29 - July 5 2009.
- RoboCup symposium: June 30 - July 3 2009.
- SRMED symposium: July 6 2009.
The Tech committee
Stephen Balakirsky (NIST),
Stefano Carpin (UC Merced),
Arnoud Visser (Universiteit van Amsterdam).
Local organizer:
Alexander Kleiner (University of Freiburg).
Competition Schedule
- The competition consists of three days of elemental tests followed by one day of semi-finals and one day of finals.
Set-up Day, Monday June 29
- Today is dedicated with setting up. Please try to connect to one of the practice machines directly (firewall-setting do not allow connections via the local network).
- Team meeting, 17h00
- For the teams already there, a short update is given.
- See for details the teammeeting slides 29JuneTeamMeeting.pdf
Practice Day, Tuesday June 30
- Today is dedicated to practice. Please try to connect to one of the practice machines with a full team of robots.
- Team meeting, 16h00
- All teamleaders should be there, information about the following's day test is given. All teams which want to run with a different configuration than the latest default competition version of the USARBot.ini (version 0.4 of Tuesday June 30th, should send their version a.s.a.p.
- RoboCup symposium, 16h30
- See the symposium schedule, but note:
- * 18h00, Hall 2, Creating Photo Maps with an Aerial Vehicle in USARsim, Heiko Bülow, Andreas Birk and Shams Feyzabadi
Day 1, Wednesday July 1
- Schedule - The schedule for the Wednesday runs may be found at 01JulySchedule.pdf
- 9h00 Jacobs - Brasil-VR
- 9h30 UC Merced - Amsterdam Oxford
- 11h00 UPM-SPQR - STB
- 11h30 SBCe_Saviour - SEU RedSun
- 13h30 NP Solvers - MRL
- 14h00 CFZ
- Start Location Names
- Robot1, Robot2, Robot3, Robot4, CommStation
- Wednesday's competition consists of the mapping elemental challenge. The a priori will be posted here the day before the competition. For this event, noise values will be higher than the optimistic values in the usarbot.ini file used in the previous competitions.
- [USARBot.INSSensor] Drifting=true Precision=10 Sigma=0.3 Mean=0.0
- [USARBot.SICKLMS] Noise=0.010
- [USARModels.Hokuyo] Noise=0.020
Results
| Rank | Team | Correct Paths | Points |
|---|---|---|---|
| 1 | SEU-RedSun | 7 | 50 |
| 2 | UPM-SPQR | 3 | 21 |
| 3 | MRL | 2 | 14 |
| 4 | Amsterdam Oxford | 1 | 7 |
| 5 | Jacobs | 0 | 0 |
| 6 | CFZ | 0 | 0 |
| 7 | UC Merced | 0 | 0 |
| 8 | SBCe | 0 | 0 |
| 9 | NP Solvers | 0 | 0 |
| 10 | Brazil | 0 | 0 |
| 11 | STB | 0 | 0 |
Day 2, Thursday July 2
- Thursday's competition consists of the deployment challenge. All teams which want to run with a different configuration than the latest default competition version of the USARBot.ini (version 0.6 of Thursday July 2nd), should send their version a.s.a.p. For this event, the default indoor noise values are applied to the sensors.
- [USARBot.INSSensor] Drifting=true Precision=1000 Sigma=0.1 Mean=0.0
- [USARBot.SICKLMS] Noise=0.005
- [USARModels.Hokuyo] Noise=0.010
- Start Location Names - The following list contains the names of the robot start locations. Please note that not all of the names begin with a capital 'R'. Blame the UnReal editor for this!
robot1, robot2, Robot3, Robot4, Robot5, Robot6, Robot7, Robot8, CommStation
- Schedule - The schedule for the Thursday's runs may be found at 02JulySchedule.pdf
- 9h00 NP Solvers - MRL
- 9h30 Jacobs - Brasil-VR
- 11h00 UC Merced - Amsterdam Oxford
- 13h30 UPM-SPQR - STB
- 14h00 SBCe_Saviour - SEU RedSun
- 15h00 CFZ
Results
| Rank | Team | Score | Points |
|---|---|---|---|
| 1 | SEU-RedSun | 8230 | 50 |
| 2 | UPM-SPQR | 6306 | 38.3 |
| 3 | UC Merced | 5537 | 33.6 |
| 4 | STB | 2582 | 15.7 |
| 5 | SBCe | 2451 | 14.9 |
| 6 | MRL | 2123 | 12.9 |
| 7 | CFZ | 1979 | 12.0 |
| 8 | Amsterdam Oxford | 1821 | 11.1 |
| 9 | Jacobs | 1717 | 10.4 |
| 10 | NP Solvers | 2547 | 0 |
| 11 | Brazil | 0 | 0 |
- RoboCup symposium, 17h00
- See for details the symposium schedule.
- Banquet, 20h00
- InterLeague Challenge, 24h00
- See for details Inter_League_Challenge page
- Frequently Asked Questions - The base station will be near the location where the robots are spawned.
- RoboCup symposium, 17h00
- See the symposium schedule, but note:
- * 18h20, Hall 1, A Hybrid Agent Simulation System of Rescue Simulation and USARSim - Simulations from Going to Fire-Escape Doors to Evacuation to Shelters, Shigeru Yotsukura, Masaru Okaya and Tomoichi Takahashi
- * 19h20, Hall 1, Coordinated Action in a Heterogeneous Rescue Team, Fares Alnajar, Hanne Nijhuis and Arnoud Visser
Day 3, Friday July 3
- Friday's competition consists of the teleoperation challenge. All teams which want to run with a different configuration than the latest default competition version of the USARBot.ini (version 0.7 of Friday July 3rd), should send their version a.s.a.p.
- Start Location Names - The following list contains the names of the robot start and goal locations. The goals will be provided by either a getStartPose command or a .MIF file. A sample of the MIF file may be found here
Robot1, Robot2, Robot3, Robot4, Robot5, Robot6, Robot7, Robot8, CommStation, Position1, Position2, Position3, Position4, Position5, Position6, Position7, Position8
- Schedule - The schedule for the Friday's runs may be found at 03JulySchedule.pdf
- 9h00 SBCe_Saviour - SEU RedSun
- 9h30 NP Solvers - MRL
- 11h00 Jacobs - Brasil-VR
- 13h30 UC Merced - Amsterdam Oxford
- 14h00 UPM-SPQR - STB
- 15h00 CFZ
Results
| Rank | Team | Score | Points |
|---|---|---|---|
| 1 | UC Merced | 232.23 | 50 |
| 2 | Amsterdam-Oxford | 141.76 | 30.5 |
| 3 | MRL | 121.65 | 26.2 |
| 4 | UPM-SPQR | 67.24 | 14.5 |
| 5 | NP Solvers | 66.19 | 14.3 |
| 6 | SEU-RedSun | 65.7 | 14.1 |
| 7 | CFZ | 59.66 | 12.8 |
| 8 | Brazil | 0 | 0 |
| 9 | Jacobs | 0 | 0 |
| 10 | SBCe | 0 | 0 |
| 11 | STB | 0 | 0 |
- RoboCup symposium, 17h00
- See for details the symposium schedule.
- Banquet, 20h00
- InterLeague Challenge, 24h00
- See for details Inter_League_Challenge page
Comprehensive preliminary results
| Rank | Team | Points |
|---|---|---|
| 1 | SEU-RedSun | 114.14 |
| 2 | UC Merced | 83.69 |
| 3 | UPM-SPQR | 74.21 |
| 4 | MRL | 53.37 |
| 5 | Amsterdam Oxford | 48.72 |
| 6 | CFZ | 24.86 |
| 7 | STB | 15.68 |
| 8 | SBCe | 14.89 |
| 9 | NP Solvers | 14.25 |
| 10 | Jacobs | 10.4 |
| 11 | Brazil | 0 |
The following teams advance to the semifinals:
- SPQR-UPM
- Amsterdam-Oxford
- UC Merced
- RedSun
- MRL
Day 4, Semi-Finals Saturday July 4
The semi-finals will consist of two runs for each team (an indoor and an outdoor run). The noise levels will be different in both runs. The team's Usarbot.ini-files will be based on these default versions: Indoor and Outdoor.
- Schedule - The schedule for the Saturday's runs may be found at 04JulySchedule.pdf
- Start Location Names - The following list contains the names of the robot start locations. These are the same for both worlds. Please note that not all of the names begin with a capital 'R'. Blame the UnReal editor for this!
robot1, robot2, Robot3, Robot4, Robot5, Robot6, Robot7, Robot8, CommunicationStation
- A priori data - Very rough a priori data for the semi-finals is available here
Semifinals results
| Rank | Team | Points |
|---|---|---|
| 1 | UC Merced | 251.5 |
| 2 | SEU-RedSun | 217.2 |
| 3 | Amsterdam-Oxford | 130.8 |
| 4 | MRL | 129.8 |
| 5 | SPQR-UPM | 84.9 |
UC Merced and SEU-RedSun will compete for the first and second place. Amsterdam-Oxford and MRL will compete for the third prize.
Day 5, Finals Sunday July 5
The finals will consist of two runs for each team (an indoor and an outdoor run). The noise levels will be different in both runs. Scenarios:
Outdoor - There has been an earthquake that has caused damage to houses and a mountain tunnel. The responders were unable to get to the exact site, but must deploy several robots on the river front (sites 1-4) and some in a nearby street (5-8). The tunnel is in the NorthEast corner of the map.
Indoor - We now move to the inside of one of the damaged buildings. The building has suffered significant damage. The western end of the building is more damaged then the east.
- Start Location Names - The following list contains the names of the robot start locations. These are the same for both worlds. Please note that not all of the names begin with a capital 'R'. Blame the UnReal editor for this!
robot1, robot2, Robot3, Robot4, Robot5, Robot6, Robot7, Robot8, CommunicationStation
NOTE: For the outdoor world, the start locations are in two clusters (1-4 and 5-8). The airRobot is only allowed to start from locations 5-8.
Finals results
| Rank | Team | Points |
|---|---|---|
| 1 | UC Merced | 293.0 |
| 2 | SEU-RedSun | 169.2 |
| 3 | Amsterdam-Oxford | 88.4 |
| 4 | MRL | 75.1 |
Participating Teams
Currently 10 of the 12 registered teams from 9 countries have participated the 2009 Virtual Robots competition. The 16 Team Description Papers (TDPs) of the qualified teams are peer-reviewed inside the community. Papers which were judged as good and very good are indicated with respectively a star '*' or a double star '**'. The Team Description Papers will be published on the RoboCup 2009 Proceedings CD. The qualified teams could register until May 18. No teams can be registered anymore, only additional teammembers can still be registered on site.
- Max Pfingsthorn, Ravi Rathnam
- UC Merced - University of California, Merced, USA (homepage)(TDP)** (source code)
- Benjamin Balaguer, Derek Burch, Roger Sloan, and Stefano Carpin
- Amsterdam Oxford Joint Rescue Forces - University of Amsterdam, The Netherlands, University of Oxford, United Kingdom (homepage)(source code)(TDP)**
- Julian de Hoog, Radoslaw Sobolewski, Helen Flynn, Magda Jankowska and Arnoud Visser
- UPM-SPQR - Universidad Politecnica de Madrid, Sapienza University of Rome, Spain, Italy (homepage)(TDP)*
- Paloma de la Puente, Diego Rodriguez-Losada, Alberto Valero, Roberto Vicario
- Majid Yasari, Majid Sadeghi Alavijeh, Sepehr Farhand, Seyed Ali Zahiri
- Iman Sarrafi, Amir Saman Memaripour and Reza Bakhshi
- SEU RedSun - South-East University, Nanjing, China (TDP)
- Shen Hui, Qian Cheng
- Patrick Sturm, Emanuel Plochberger and Leonhard Pfeiffer-Vogl
- Edris Esmaeili Aliabadi, Vahid Azizi, Mohammad Sadegh Kordafshari
- CFZ - Chabahar Free trade-industrial Zone Organization (CFZO), International University of Chabahar (IUC), Iran (homepage)(TDP)
- Seyed Behzad Tabibian, Yousef Kanani, Hossein Nekoomanesh, Milad Amel Zabihi, Soroush Mortezapour, Shiva Shahrokhi, Seyed Alizeza Khatamian Oskooei, Maryam Rahmani
All preregistered teams have submitted their qualification material.
Rules
The technical committee has published the release candidate 2 of the rules for Graz 2009. The rules are based on the rules 2008 competition, however, to further push the league towards novel interesting solutions, several small changes have been made. The main change is the introduction of Elementary Tests in the preliminary rounds, to test the progress on several specific subject. Further, this year a new image server and a new obstacle attenuation plugin were developed. At the German Open , those innovations were tested.
This year, two new robots are allowed in the competition:
The point of contact for the rules is Stefano Carpin (UC Merced),
please refer to him for any questions/clarifications on the rules.
Complementary to the rules is the list of logical configurations, compiled into a USARBot.ini file. Teams desiring to add new components (robots, sensors, actuators) to the set of available devices must contact Stefano and provide the new components by March 31, 2009 to the community. The latest official versions of the USARBot.ini file are labeled version 0.9 of Friday July 4. There exist a version with Indoor Noise and a version with Outdoor Noise. In those versions all non-competition robots and sensor removed.
