Design Objective:

Design an autonomous mobile robot, or a collaborating team of robots, that is capable of navigating from a start position to a goal position (on an 8 foot by 8 foot arena) in a minimum amount of time.

Robots have the choice of following a white line (with forks and splits) to the goal, or blazing a path through unknown territory, avoiding obstacles, and crossing model railroad tracks!  Robots may also choose a combination of methods. Robots have a total of 3 minutes in the arena to find the quickest path (in time) from the start to the goal location.  The minimum travel time from start to goal achieved by the robot or any member of the robot team at any time during the 3 minutes will be the score for that match. Robots within a robot team are encouraged to communicate and cooperate.  Are two robots better than one? The robot(s) can make unlimited attempts at finding the quickest path during the 3-minute time limit. Objects (empty soda cans) can be optionally placed within the arena and a robot which manages to physically transport any can to the goal area will receive a bonus (time reduction).  Robots must be fully autonomous, which means there can be no human intervention during the entire 3-minute match. This rule is not applied to the K-4th grade category which allows teleoperated (IR remote-controlled) robots.

Also, an electric train (trolley car) will be setup on O-27 gauge train track, and this trolley will be blocking the white line path on a grade crossing.  The train can be commanded to move out of the way by "breaking" a beam of IR light in the northwest and southeast corners of the arena (see dotted red lines in diagram above) Of course, a robot must be smart enough to break the beam of light at the right time.  (The train is optional for the junior divisions. ) 

The robots and designers will not know of the exact location of the obstacles, nor of the path (white tape line) prior to the contest. Robot entries will have 2 attempts to solve the problem – the minimum of the 2 match scores will be the final score. Each match is 3 minutes in duration. The obstacle configuration and path may be different for the second match. No information regarding obstacle layout or path can be programmed into the robot once the configuration is revealed.

The robot contest is open (at no cost) to students of all levels with the objective of promoting interest in science, engineering, information technology, machine intelligence, robotics, artificial intelligence, and collaborative problem solving.  The event is also open to the public as spectators at no cost.

Announcement: Each April the Penn State Abington College hosts a regional fire-fighting robot contest based on the Trinity College Fire-Fighting Robot Contest.   Be there in April of 2002.

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Robot Specifications

• A single robot must fit within a 12" by 12" by 12" volume at the start of the match.  Robots may increase in size to a maximum of 16" by 16" by 16" during the match.
• All participating robots must be fully autonomous and untethered.
• No robot can be touched or influenced by a human during the match.
• The robot or robot team will start in the southwest corner (18" by 12" area) of the 8’ by 8’ arena. The start area (18" by 12") will be always be located in the southwest corner of the arena. The goal area (18" by 12") will be always be located in the northeast corner of the arena.
• There is no weight limit for the robot with the exception that the robot should not inflict any damage to the arena.
• At the start, a single robot will be placed in the starting area facing north, and centered on the white line. (The idea here is that you should not be able to "point" your robot to avoid obstacles.)
• The single robot must be started by any mechanism (e.g. push-button, tone, IR, Palm PDA, etc).
• A robot may lose parts, limbs, etc. throughout the match -- these will remain on the playing arena throughout the 3 minute match. A robot can also strategically leave "markers" or objects of any kind within the arena during the match. These objects cannot permanently affect the playing surface in any manner. For example, depositing glue or a trail of water or powder, scratching the surface, etc. will not be allowed.
• Robots may carry, setup, become detached from, any electronic devices (active or passive) within the course during the match.
• A robot may be reprogrammed between matches. For example, speed or light sensitivities could be modified between matches. Any repairs or alteration not resulting from knowledge of exact location and configuration of obstacles and white line path can be performed. In an extreme case (but allowed), a path following (white line following) robot may be programmed to perform another algorithm such as mapping or wall-following.
• A robot may not communicate with any human or machine or device of any kind located outside of the arena at any time during the match.
• Internal batteries may be charged or replaced between matches. At the judges' discretion and as the result of a robot power failure, a power cable tether can be connected from outside the arena to the robot to provide power to the robot. A penalty of 2 minutes will be added to any score.
• Each robot entry is encouraged to display a robot name and/or school name. Banners, flags, signs, posts, etc. used for robot/school identification can exceed the maximum robot size regulations provided the signage is of no consequence to the operation of the robot in the contest.
• Robots will be started by the judges.  At the discretion of the judges, the contestants may be instructed to start their robots.

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Robot Teams

• A team of robots is optional.  A maximum of 3 robots can comprise a team. Robots within a team do not compete against each other -- they cooperate with each other.
• The collective volume of the team of robots must fit within a volume defined by the start area - 12" by 18" by 12" (high)  Each robot must face north in the starting area, but do not have to be positioned over the white line.
• Each robot in a team may be started individually at the start of a match.  All robots should be started within 5-8 second period at the start of a match.  The robots do not necessarily have to move when activated.
• The robots within a team may communicate via sound, radio, IR, etc. Robots within a team may not be connected via a physical link, such as a wire or cable. 
• Robots within a robot team may be touching in the start position.
• Each robot within a team should be demonstrated to be a self-propelled, computer-controlled, mobile robot.  (I realize the definition of a robot is a fuzzy concept.)
• The final match score will be the minimum time achieved by any of the robots in the team.  Bonuses achieved by any robot can be applied to other robot's score (i.e. robots in a team can help each other).

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The Arena and Walls (see diagram)

• The arena is an 8 ft by 8 ft flat area painted semi-gloss black. The entire perimeter is surrounded by a wall which is 4" high, and ¾" thick. The wall is constructed from plywood. The sides and top of the walls are painted semi-gloss white. The inside dimension of the field is 8 feet minus 2 times the wall width = 94.5 inches.
• There exists an 8" wall (3/4" thick) perpendicular to the north wall that forms a 16" by 8" area in the northwest corner of the maze (see diagram). The IR beam is located in this area.  There is a similar 8" wall in the southeast corner of the maze.
• A robot may bump into the walls without penalty. A robot must not climb over a wall. A robot may look over the wall or view the top of the wall.
• No equipment (including electronic devices of any kind, reflectors, etc.) can be setup above, below, around, outside of  the arena at any time.  Equipment can, however,  be setup by robots within the arena at any time.
• O-27 gauge model railroad track ( 7/16" high) extends from the south wall to the north wall.  The track is perpendicular to the wall at the point of contact with the wall, and the track continues to be perpendicular to the wall for at least 12" away from the wall.
• The arena consists of 2, 4 ft. by 8 ft. sections of plywood.  The seam where the 2 sections meet runs north-south.  There could be up to a 1/4-inch "lip" or discontinuity at this seam.
• In the southwest corner there is a 12" by 18" start area.  This area is outlined by red tape.  The red tape does not cover the white tape path.  The red tape is considered inside the 12" by 18" area.  Likewise, there is a 12" by 18" goal area in the northeast corner of the arena.

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The "Line" defining the path (see diagram)

• A white line is placed on the floor of the arena and describe a path from the start position to the goal area. The white line consists of white electrical tape that has a width of ¾ inches. (This tape can be purchased from any hardware store, e.g. Home Depot, Sears Hardware).
• The white tape will consist of straight segments at least 2 inches long. Turns will be 45 degrees at maximum.
• The white tape trail segments will not intersect or cross other segments at any point. Parallel segments will be at least 6 inches apart.
• There are 2 split paths along the white line path.  One is located prior to reaching the train track grade crossing, an one following the grade crossing.   Each of the paths splitting off at the fork will be at 45 degree angles.
• The white tape trail will be approximately 20 to 30 feet in total length.
• No obstacles or train track will be located within 6 inches of the center of the white tape.  No obstacles or train track will be located within 6 inches of the red tape defining the start and goal areas.
• The actual path from start to goal will be unknown to the participants. Once the path has been revealed prior to the contest start, no path information can be entered into the robot(s).
• A 16" straight white line 9" from the west wall and parallel to the west wall will exist in the start area. The line will begin on the floor at the south wall and extend 4" beyond the start area. This means that a turn should not be expected until 4" beyond the start area.
• Similarly, a white line parallel to the east wall and extending 16" from the north wall will exist in the goal area.
• The white line will pass over the O-27 gauge model railroad tracks at a grade crossing (K-Line #K-4188; ~ $8).  There will be no continuous white line over the width of the track at the crossing. (Check Penn State Abington for availability of grade crossings.)

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Scoring:

• At the instant the robot is started by the judge, a 3-minute match timer will be started. When the 3-minute timer reaches zero, then the match will be finished for this robot or robot team.
• When any robot leaves or exits the start area, a "trail" timer will be started. The robot has exited the start area when all parts of the robot are outside the start area perimeter as defined by the red electrical tape on the floor.
• The "trail" timer will be stopped when any portion of the robot enters the goal area. This "trail" time will constitute a score.
• The "trail" timer will be reset to zero if the robot re-enters the start area before reaching the goal area.
• Only the transit time from the start area exit to the goal area entrance will be timed.
• When a robot returns to the start area (i.e. any part of the robot crosses the red tape defining the start area), the new "trail" time will be not be started until the robot exits the start area.
• A separate "trail" time will be established for each robot in a robot team for every run..
• The minimum "trail" time achieved during the 3 minute match by any robot in any attempt will be the match score.
• Bonuses will be added and applied to the match score (which is the minimum time achieved by any robot at any time during the 3-minute match).  Remember a slow robot can achieve bonuses that can be applied to another fast robot's time.
• If a robot becomes hopelessly "stuck" or disabled for 15 seconds, the judges may terminate the match.
• Each robot or robot team entry will be allowed 2 matches. Each match is 3 minutes in duration.  The final contest score will be the minimum of the 2 match scores.
• Robots should not in any way violate the "spirit" of the rules (check with organizers concerning rule interpretation).

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Bonuses:

       - Soda Cans along wall (total of 2)..............20% bonus for each can  (must bring can to goal area)
       - Soda Cans along white line (total of 2)......20% bonus for each can  (must bring can to goal area)

• The match score will be reduced by 20%  if at any time during the 3 minute match, any robot manages to transport an empty soda can, located along the north or south wall, to the goal area.  There are 2 cans located along the walls (one can along the north wall, and one can along the south wall), for a possible total bonus of 40%.  The cans will be placed 2" from the wall (wall to edge of can) and will be randomly located between the 6" wall obstacle (housing the IR beam sensor) and the railroad tracks.  The can cannot be thrown or tossed, but can be dragged or rolled.  For a bonus, the entire can must be brought into the 12" x 18" by 12"(high) imaginary volume defined by the goal area.  The placement of these cans at the start of a match is optional.
• The match score will be reduced by 20% if, at any time during the 3 minute match, any robot managed to transport an empty soda can located along either white line split path to the goal area. There are 2 cans, one located on each of the 2 split paths, for a possible total bonus of 40%. (There will be at least 3" of straight path before and after the can.)  If a can is placed on the right side of the first fork (traveling from start to goal), then the second can will be placed on the left side of the second fork, and vice versa.  The placement of the can on the first fork will be random.  For a bonus, the entire can must be brought into the 12" x 18" by 12"(high) imaginary volume defined by the goal area. The placement of these cans at the start of a match is optional.

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Scoring Examples:

• A single robot is started by the judge; the robot remains motionless for 1 minute; the robot then leaves the start area and reaches the goal area in 50 seconds, the robot then stops; the final score will be 50 seconds. (Remember, time clock is started when robot exits start area).
• Each robot in a team of two robots is started; robot A moves to the goal in 40 seconds while robot B is motionless. Robot B now moves to the goal area along with a soda can  in 60 seconds. The score for this match is 40 seconds minus 20% of 40 seconds = 32 seconds. (That is, the 20% bonus applies to the minimum score of any robot during that match.  In this way, a slow robot that can move a soda can help a quicker robot on the team).
• A single robot moves from the start area to the goal area in 45 seconds; the robot now moves from the goal area back to the start area in 30 seconds. The robot now leaves the start area and travels to the goal area in a time of 50 seconds. The score will be 45 seconds. (Only the time from start area to goal area is used in the scoring.)

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Obstacles

• Obstacles will be scattered throughout the arena. No obstacle will be located within 6" of the white line path.  No obstacles or train track will be located within 6 inches of the red tape defining the start and goal areas.
• The closest distance between obstacles will be 12" inches.
• Obstacles may be in direct contact with the wall. If an obstacle is not in contact with the wall, then the obstacle will be at least 12" from the wall.
• Obstacles will be at least  2" or more from any section of the O-27 gauge railroad track
• There will be no obstacles within the start or goal areas.
• The maximum height of an obstacle is 8 inches. The minimum height of an obstacle will be 3 inches.
• Obstacles will consist of bricks (covered in contact paper) that may be stacked.
• Following the wall perimeter from start to goal (clockwise or counterclockwise) will be placed a total of 3 obstacles (this includes 2 brick obstacles and the 8" wall segment.)
• Robots may not (intentionally) climb over obstacles.  Railroad track is not considered an obstacle, and robots may climb over the track.  See floor plan diagram for track layout.
• Robots may not hop, jump, skip, or fly over obstacles or any portion of the arena.
• Robots may "look" and communicate over obstacles with other robots in a robot team.
• Robots may not push obstacles more than 2 inches. For example, it is not permissible to design a "bulldozer" robot which forges a direct path from start to goal.
• There will be approximately 8 to 12 obstacles.
• Robots may make contact with obstacles and walls in order to navigate.
• The robot should not come in contact with the trolley train when the train is positioned on the grade crossing.  If robot contacts train when train is positioned on the grade crossing, then a 30 second penalty will be added to the match score (after bonuses).   Contact between robots and train is allowed when train is not positioned on the grade crossing.  Any aggressive behavior (damage to train) on the part of a robot towards the train may lead to disqualification based on judges' discretion.

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The Train

• A train trolley car (Lionel; 3" high; 7.25" long) will be placed at a grade crossing in the approximate center of the 8' by 8' arena (optional for junior division)  The trolley will be blocking the white line path.  The train will operate on O-27 gauge track.
• At the start of a match the train will be resting motionless at the grade crossing (see dotted white lines in diagram below).
• No contact should be established between a robot and the trolley when the trolley is positioned on the grade crossing (otherwise a 30-second penalty will be applied after bonuses).  Inadvertent contact may occur when train is in a location other than the grade crossing.
• There are two IR beams in the arena which control the motion of the train.  One beam is located in northwest corner of the arena, and the other beam is located in the southeast corner.
• (The robot team always starts in the southwest corner of the arena.)  In the northwest corner of the arena, there is a beam of  IR light parallel to the north wall. The beam is 16 inches in length, 4 inches from the north wall, and 2 inches above the surface of the arena.  (The IR transmitter is embedded in the west wall and is placed 2 inches in height above the floor surface, and 4 inches south of the north wall.  The IR transmitter is pointing due east. The IR receiver is embedded in the 8" wall (parallel to the west wall), and is directly facing the transmitter, 16 inches away.)
• In the southeast corner of the arena, there is a beam of  IR light parallel to the south wall.  The beam is 16 inches in length, 4 inches from the south wall, and 2 inches above the surface of the arena. (The IR transmitter is embedded in the east wall and is placed 2 inches in height above the floor surface, and 4 inches north of the south wall.  The IR transmitter is pointing due west. The IR receiver is embedded in the 8" wall (parallel to the east wall), and is directly facing the transmitter, 16 inches away.)
• When the northwest IR beam is broken, the train moves from the grade crossing approximately 2 feet north and stops.  The train will remain in this new position as long as the IR beam is broken (interrupted). When the northwest IR beam is re-established, the train moves back to the grade crossing and stops.  
• When the southeast  IR beam is broken, the train moves from the grade crossing approximately 2 feet south and stops.  The train will remain in this new position as long as the IR beam is broken (interrupted). When the southeast IR beam is re-established, the train moves back to the grade crossing and stops.  
• If both the southeast and northeast IR beams are simultaneously broken, the train will move to the grade crossing and stop.
• Due to the direction reversal mechanism on the train trolley, the train may not take the most direct path from the grade crossing to a new position  (that is, it might hit a north or south wall first to reverse direction.)
• Robots cannot interfere with the electrical operation of the train.  For example, robots should not be designed to apply electricity to train or track, sense track voltage, use track voltage to power devices, "short out" track power supply, etc.

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Recommended Equipment

There are very few restrictions on hardware, software or building materials. Robots should be of a "home-brew" nature. Robot kits (store-bought) are allowed if the designers make modifications or improvements. A robot kit which needs only to be programmed would be fine since the designers are creating the program. The use of an existing robot base or R/C vehicle platform controlled by a programmable device (and programmed by the participants) is also allowed.  Direct any questions on legitimate robot entries to Bob Avanzato at Penn State Abington. There exist many approaches in both hardware and software – be creative.

I would recommend the following for consideration (this is not a complete list):

1) Handy Board (programmed with Interactive C language) and LEGO building blocks. The Handy Board works well with Lego motors and building materials. Suggested for high school and college levels.

2) Basic STAMP. (Parallax, Inc) Suggested for advanced high school and college levels.

3) For grades 4 to 12+, I would recommend purchasing the LEGO Mindstorms Robotics Invention System (RIS). These products can be purchased from PITSCO Lego Dacta (1-800-362-4308) and are available at retail stores such as Toys-R-Us (cost is ~$200-220).  These devices are programmed in a "visual" icon-based language.  Software support is for the PC. Additional software can be purchased (RoboLab, ~$25) for a MAC (and PC) from Pitsco-Dacta. There is also software support for C (Not Quite C), Visual Basic, and other languages. It is also recommended that a Lego IR remote control unit be purchased.

4) For grades K-3, I would recommend either the Lego Mindstorms Robotics Invention System (RIS) or the Mindstorms Robotics Discovery System.  The Discovery system does not require a desktop computer for programming, but has less features than the Invention system.  It is also recommended that a Lego IR remote control unit be purchased with this set.  The IR Lego remote can be used to control the robot in the TRailBlazers robot contest -- K-4th grade level only.

The choice of software and hardware depends on your educational objectives, resources, and time constraints.  Please contact Bob A. for consultation regarding microprocessor, software, and building material selection. (Also check Robot Resources from Bob Avanzato's Robot Page.)

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Eligibility and Registration

"Robo-TrailBlazers" contest is open to all students at the  college, high school, and grade school levels. Home-schooled students are also very welcome.  (There are also a few entries reserved for professional engineers and researchers -- please contact Bob Avanzato for details.) There is no charge for registration, but the number of total entries in the contest will be limited to approximately 20 robots. Please register as soon as possible for 3 reasons -- 1) registered participants will receive latest news, announcements and updates, 2) registration will guarantee participation in contest, 3) early registration allows us to plan prizes, refreshments, etc.  Registration is not a formal commitment to participate -- it simply tells us that you are seriously planning to enter a robot. 

There will be 4 divisions. Prizes will be awarded in each division. Number of awards will depend on the number of entries in each division. Prizes will be awarded to the sponsoring school or sponsoring association: 
    1) College division (college level and higher) -- autonomous robot; train placement required
    2) High school  Division(grades 9 - 12 or equivalent) -- autonomous robot; train placement required
    3) Middle School Division (grades 5-8 or equivalent) -- autonomous robot; train optional -- bonus for use of train
    4) Junior Division (K - 4 or equivalent) -- IR remote control allowed -- bonus for autonomous

Registration will be conducted via email.  To register, email the following information to Bob Avanzato.

1. Name of student(s) and contact information (include email address)
2. Name of school or association and advisor/faculty (include email).
3. Name of robot (if available)
4. Specify division: Junior (K-4), Middle(5-8), High School (9-12), College.
5. Is this an individual robot or robot team entry? If team entry, how many members?
6. Brief description of robot -- Lego, Handy Board , Mindstorms, other, etc.

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Date, Time, Directions

The "Robo-TrailBlazers" robot contest is scheduled for Saturday, December 8, 2001 at the Penn State Abington College in Room 112 Woodland Building at 1pm. Access to the contest arena for practice, sensor calibration, etc. will be available from 10am to 12:30pm on the day of the contest. Participants are responsible for bringing their own materials, supplies, tools, computers, etc. Workspace and outlets will be provided.

Penn State Abington is conveniently located just off Rt. 611 in Abington, PA. (suburb of Philadelphia, Pennsylvania USA). The contest is free to participants and spectators. Free parking is available.

Directions: From PA Turnpike take exit #27, follow Rt. 611 South 3.4 miles to Abington, turn left on Woodland Road, look for Abington Hospital on right and Inn Flight Restaurant on left. Follow Woodland road for 0.5 miles. Campus is on right. Take first entrance on right (past Cloverly Lane) and park. Go through main entrance of Woodland Bldg. (white stone bldg. adjacent to parking lot). Upon entering Woodland bldg., enter first set of doors to your left -- this is room 112W, the auditorium. You could also proceed downstairs and enter auditorium from lobby. (From Phila area, take Rt. 611 north, past Rt. 73, and make right onto Woodland Road.)

For more information, contact Bob Avanzato, Penn State Abington College:

email: rla5@psu.edu; (email is preferred)

telephone: 215-881-7358(voice); 215-881-7623(fax)

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Sponsors:

• Penn State Abington
• Abington Bank (Abington, PA)
• Penn State Abington Student Chapter of IEEE (Institute for Electrical and Electronics Engineers)
• NASA Space Grant

Philosophy:

• The contest is accessible to all ages and is free.
• It is not necessary to build a full-scale maze in order to practice -- black construction paper and white tape will do.
• There is an IR remote control division for K-4th grade, other divisions require autonomous robot
• There are no real constraints on the equipment used -- due to the design of the contest, there is no real advantage to participants that have unlimited funds. Many low-cost robots will be effective. Simplicity is the key.
• The contest is Lego Mindstorms friendly.  These kits are available for about $200 and are reusable.
• The contest can be the foundation of an after-school activity, science fair, hobby, course, or college senior design project, etc.
• Participants can invest anywhere between 4 hours and 400 hours to build a robot for this contest.
• The contest promotes the notion of team robots (robots assisting one another), but this approach is optional
• The contest can be approached at many levels of sophistication, and solutions can be expanded from year to year. There is no such thing as "the solution".
• In the past, solutions have ranged from "random walk" to fuzzy logic-based algorithms, and everything in-between.
• Emphasis is on creative problem-solving, teamwork, innovation, hands-on learning process.
• Emphasis is on fun over competition. Students who fail to laugh and have fun could be disqualified :-)

Floor Plan (Example Only; actual path and obstacle layout will vary at contest):