Drone Competition Manual

Transcription

1 2017 Drone Competition Manual

2 1 Table of Contents: Drone Competition Manual 0 Table of Contents: The Tournament Tournament Location Division Descriptions Tournament Definitions Tournament Rules The Drone Overview Drone Control System Hardware Drone Hardware Rules Allowed Drones Electronics Materials Software Rules Code Drone Inspection Overview Inspection Procedure and Rules Passing Inspection Re-Inspection Judging Overview Introduction Team Video Guidelines 12 Overview 12 Judging Elements 12 Teamwork 12 Strategy 12 Creativity 12 Technical Achievement 13

3 Rubric Challenge Rules General Challenge Definitions Challenge Safety Rules General Challenge Rules Delivery Challenge 17 Definitions 17 Game Description 19 Gameplay 20 Pre-game 20 Setup Period 20 Autonomous Period 20 Driver Control Period 20 Scoring Summary 21 Scout Division 22 Setup Period 22 Driver Control Period 23 Scoring Balloon Challenge 24 Challenge Definitions 24 Ranger Division 25 Challenge Description 25 Gameplay 26 Pre-game 26 Setup Period 26 Autonomous Period 26 Scoring 27 Scout Division 28 Challenge Description 28 Autonomous Period 28 Scoring 29 Obstacle Course 30 Challenge Definitions 30 Ranger Division 33 Challenge Description 33 Gameplay 34 Pre-game 34

4 3 Setup Period 34 Autonomous Period 34 Scoring 34 Scout Division 35 Challenge Description 35 Gameplay 35 Pre-game 35 Setup Period 36 Autonomous Period 36 Scoring 36 Overall Ranking Calculation 37 Contact Us 37

5 4 1.0 The Tournament The Florida Atlantic University (FAU) Unmanned Aerial Vehicle (UAV) Championship is an annual middle and high school tournament of aeronautics and programming. The Championship was created to encourage students to pursue their interests in the STEM fields (science, technology, engineering, and math), as well as to give them opportunities to excel in a field they are passionate in. We aim to challenge middle and high school students to find creative solutions to difficult engineering and technical problems. 1.1 Tournament Location The 2017 FAU UAV Championship will be hosted at FAU s TechRunway. More information can be found on the TechRunway website ( ). 1.2 Division Descriptions Ranger - The Ranger Division is the advanced division in the FAU UAV Championship competition. A Parrot Bebop/Bebop 2 or AR.Drone is required to compete in the Ranger

6 5 Division. Teams in Ranger Division must use custom code on it to control their drone. Ranger Division Teams may not use third party applications to run their code. The Ranger Division is meant for high school teams looking for relevant competition and programming complexity. Middle schools may also participate in the Ranger Division. Scout - Scout Division requires the use of Parrot Minidrones. Teams in the Scout Division may use a third-party app like Tickle or Tinker to program and control their drones. This competition is recommended for middle school teams. 1.3 Tournament Definitions Area A Space defined by vertically extending a two dimensional region s boundary upwards. The boundary elements are considered part of the Area when determining if an object is Inside or Outside of the Area. Code The set of preprogrammed instructions that a Team uses to control their Drone. Competition Area The Area which includes the Playing Fields, Queue Area, Scoring Tables, and Drone Control Stations. Safety Glasses are required to enter the Competition Area. Drone Any device that has passed Drone Inspection as detailed in Section 3. Drone Control System The computer system that Teams will use to control their Drones during an Event. Event One of the three challenges: the Obstacle Course, the Delivery Challenge, or the Balloon Challenge. Flying/In Flight A Drone is In Flight if it is not fully supported by the ground, or a solid object. (Completely) Inside An object is considered In or Inside of a Space if some part of the object intersects with the Space. An object is considered Completely In or Completely Inside of a Space if the entire object intersects with the Space. Lane A Lane is an Area inside the Competition Area. Each Lane contains the Playing Field for a particular Event and a Queueing Station. There may be multiple Lanes per Event depending on the venue. No-Fly Zone An Area in which Drones are not permitted to Fly. Teams that Fly their Drone Inside a No-Fly Zone will be warned. Subsequent violations may lead to disqualification. Outside An object is considered Out or Outside of a Space is it is not Inside the Space.

7 6 Pit Area An Area Outside of the Competition Area where Teams may work on their Drone and Code in between Events. Playing Field The Area in the Competition Space on which a game is played and all of the Game Elements that belong to that game as described in the game rules. Practice Area An Area Outside of the Competition Area where teams may Fly their Drone Code in between Events. Practice Area size and availability may vary based on the venue size. Queue Area / Queuing Station An Area Inside the Competition Area where members of a Team may gather before their scheduled Event. The Queue Area is a No-Fly Zone. No changes to a Team s Code may be made in the Queue Area. Safety Glasses ANSI Z87.1 certified safety glasses. Regular glasses and sunglasses do not qualify as safety glasses. Team members or spectators that wear prescription glasses may wear safety goggles or side shields. Safety goggles and side shields must also meet ANSI Z87.1 requirements. Space A three dimensional shape defined by boundaries. The the boundary elements are considered part of the Space when determining if an object is Inside or Outside of the Space. Team Students, mentors, and supporters of an entity registered to compete at the FAU UAV Championship. Time Block The competition is broken up into 10 minute blocks of time. Teams will be scheduled a Time Block for each Event. Teams are guaranteed at least one Time Block in between their scheduled Events. 1.4 Tournament Rules Teams attending the FAU UAV Championship are expected to behave professionally. Individuals who are unable to behave adequately may be asked to leave the event. Tournament rules are detailed as follows: <T01> Outdoor Flight - Under NO circumstance may any tournament attendee fly a drone outdoors. The space outside of the competition venue is inside the airspace of the Boca Raton Airport. Anyone found flying a drone outside of the venue will be prosecuted by the relevant authorities. <T02> Proper Conduct - Team members are expected to exhibit proper behavior for the duration of the tournament. Improper Conduct may result in the dismissal of the individual and/or penalties to their Team.

8 7 <T03> Staff/Volunteer Interaction - Team members may not act aggressively or uncivilly towards any staff or volunteers for the duration of the tournament. Uncivil behavior towards a staff member or volunteer may result in the dismissal of the individual and/or penalties to their Team. <T04> Drone Inspection - Only devices that have passed inspection may Fly Inside the tournament building. <T05> Rule Scope - The FAU UAV Competition rules are split into multiple sections. Rules found in general sections apply to more specific sections. More precisely, the sections ordered from lowest to highest specificity are as follows: Tournament Rules, General Challenge Rules, Challenge Specific Rules. <T06> Rule Hierarchy - In case of an explicit conflict between the sections, specific rules take precedence over general rules. <T07> Safety Rules - Safety rules apply to all sections of the competition manual. In case of an explicit conflict between the sections, safety rules take precedence over all other rules. Hardware and Software rules are considered Safety Rules. 2.0 The Drone 2.1 Overview A UAV (unmanned aerial vehicle) is an aircraft without a human pilot onboard that is flown remotely by a human, or autonomously by a computer. For the purpose of this section, let Drone refer to any one of the allowed drones as detailed in This section contains the rules and requirements for any hardware and software modifications that teams may make to their Drone. Teams should be familiar with the drone guidelines before making hardware or software modifications to their Drone. 2.2 Drone Control System A Team s Drone Control System will allow them to control their Drone both autonomously and using driver control. Drone Control Systems must meet the following requirements in order to be used during the competition Hardware <DC01> Power - The Drone Control System must operate using an internal battery.

9 8 <DC02> Electronics - All electronics on the Drone Control System must be properly insulated to eliminate risk of electric shock. <DC03> Setup Time - Teams will have two minutes to set up their Drone Control System and be ready to take off with their drone at the beginning of their Time Block. Teams should choose their Drone Control System Accordingly. <DC04> Safety - The Drone Control System may not pose any unnecessary risk to any tournament attendee. <DC05> Communications - The Drone Control System may only use Bluetooth or Wifi to communicate with the Drone. <DC06> Video - The Drone Control System must be able to display live video from the Drone. <DC07> USB Connections - A maximum of two USB devices may be connected to the Drone Control System at once. These devices are considered part of the Drone Control System while they are connected to it. 2.3 Drone Hardware Rules Teams may make hardware modifications to their Drone in order to enhance their Drone s ability to compete in the challenges. Hardware modifications must adhere to the guidelines laid out in this section, and comply with all safety regulations Allowed Drones For the Ranger Division, only the Parrot Bebop, Bebop 2 or AR.Drone may be used. For the Scout Division, only Parrot MiniDrones may be used Electronics <DH01> Power Button - The Drone s power button must be operational and accessible at all times. <DH02> Allowed Electronics - All electronic devices may be used to modify or add functionality to the Drone unless explicitly banned in the hardware rules, or not in compliance with the safety regulations. <DH03> Wiring - Electronics that are added to the Drone are subject to the following rules: A) The Drone must use consistent wire color coding. For example a red wire should not connect to a black wire. B) Electronics must be properly insulated to eliminate risk of electric shock.

10 9 C) Wires may be extended/modified provided that the gauge of the extension is at least the same size as the original wiring. D) All wires should be properly secured to the Drone and kept away from its propellers. <DH04> Main Battery - The Drone may only use one (1) Parrot manufactured battery as its main source of power. No other source of power may drive the Drone s propellers. The battery model must match the Drone model. <DH05> External Battery - Drones may use up to one (1) external battery to power any modifications. Modifications may not use the Drone s main battery for power. <DH06> Battery Quantity - Drones may carry up to a total of two (2) batteries at once: the main battery and the external battery Materials <DH07> Illegal Materials - Illegal materials will not be permitted in construction of the Drone. Some examples of illegal materials are as follows: Any liquids or gels Hazardous materials (lead,mercury, etc.) Pneumatics Lasers and other forms of directed light Animal based materials Sharp Objects <DH08> Allowed Materials - All materials that are not explicitly banned, and do not pose a health or safety risk are allowed. FAU UAV Championship staff reserves the right to ban additional materials at any point in time if found to pose a health or safety risk. <DH09> Propellers - Teams must use propellers manufactured by Parrot on their Drone. The model of the propeller must match the model of the Drone. Custom and third-party propellers are not permitted. 2.4 Software Rules <DS01> Ranger Division Code - Ranger Division Teams are required to execute custom Code on their Drone Control System. In addition, Ranger Division Teams may not use third party applications to execute their code.

11 10 <DS02> Scout Division Code - Scout Division Teams may choose to use third-party app like Tickle or Tynker to control their Drone. However, while flying their Drone autonomously, Scout Division Teams are required to execute custom Code on their Drone Control System. The custom code may be created using a third-party app Code <DS03> Emergency Stop - The Code must include an Emergency Stop button on all programs that will control the Drone. The Emergency Stop should cause the Drone to land immediately upon being pressed. <DS04> Emergency Stop (cont.) - Teams must demonstrate the use of an Emergency Stop button during inspection. The Emergency Stop button must be clearly identified to FAU UAV Championship staff prior to taking off during inspection or starting any Event. <DS05> Programming Language - Any Programming language may be used to control the Drone. <DS06> Video Feed - The Code must have at least one (1) live video feed from the Drone to the Drone Control System. <DS07> Communications - A Drone may communicate only with the Drone Control System during any Event. Wireless or wired communications to devices other than the Drone Control System will not be permitted. 3.0 Drone Inspection 3.1 Overview This section will describe the process of drone inspection. For the purpose of this section, let Drone refer to any one of the allowed drones as detailed in Section Prior to competing, all Drones must pass a preliminary inspection that verifies that the Drone has met all of the requirements detailed in Section Inspection Procedure and Rules After Tournament check-in, Teams will be required to submit to their Drone to inspection. The Drone Inspection will proceed as follows: Teams will bring their Drone, Drone Control System, and any devices used to modify or control the Drone to an inspection table. At the inspection table, Teams must be prepared to present

12 11 their Drone and operate it through the Drone Control System. An FAU UAV Championship staff member will check to make sure all devices used to modify or control the Drone meet the guidelines and requirements detailed in Section 2.3. After confirming that the Drone meets all safety requirements, Teams will be asked to demonstrate that their Code meets all the requirements detailed in Section 2.4 by operating the Drone. Most notably, Teams will be asked to demonstrate their use of an Emergency Stop Button, and Live Video feed in all of their code. If a Team plans on using multiple configurations of their Drone, all configurations of the Drone must pass inspection before the team is eligible to compete. 3.3 Passing Inspection Once a Drone has passed aspects of the inspection, the Team will be added to a roster of eligible teams and allowed to compete. FAU UAV Championship inspection is a pass/fail process and all requirements must be met for a Team to pass. 3.4 Re-Inspection If at any time a Drone is found to not meet the requirements in Section 2, the Team will be asked to have its Drone re-inspected. The Drone will not be eligible to compete until it has passed inspection. 4.0 Team Video 4.1 Overview This section outlines the judging and scoring process for the 2017 FAU UAV Championship Team Video. Teams should follow the video guidelines when creating their Team Video. 4.2 Guidelines The Team Video is an opportunity for Teams showcase the highlights of their preparation for the FAU UAV Championship. Teams will be required to create a short video presenting the following elements: Teamwork Strategy Creativity Technical Achievement

13 12 The Team Video will be at most five (5) minutes long and will be due by 12:00 AM on May 1st with a 24 hour grace period following the deadline. Teams should create a video that showcases the hard work that they put forth during the weeks leading up to the FAU UAV Championship. Judging Elements Teamwork The Teamwork section should showcase how the Team worked together to prepare for each Event. Teams should show how they solved conflicts and divided work in order to be well-prepared and on-time for the competition. Team structure, including how the Team made decisions, should be detailed in this section. Strategy The Strategy section should describe the reasoning behind the approaches that the Team chose to complete the different Events. Teams should use this section to explain how they chose to use the algorithms employed in their Code. Teams should demonstrate how they used the Competition Manual as a basis for forming their strategies. Creativity The Creativity section should showcase the creative and unique solutions that the Team used to overcome the challenges that they encountered. Teams should detail elements of their Code, teamwork, and strategy that they believe are unique to their team. Technical Achievement The Technical Achievement section should contain a breakdown of the section of Code or the modification to their Drone that the Team is most proud of. For example, the Team may have found a simple solution to a complex problem or used an efficient implementation of a complex algorithm. Teams should describe the functionality and implementation of their Code or modification.

14 Rubric Excellent (4 points) Good (3 points) Fair (2 points) Poor (1 point) Not Present (0 points) Teamwork The Team demonstrates exceptional teamwork when solving problems. The Team thoroughly demonstrates how they worked together in order to solve complex problems. The Team adequately demonstrates how they worked together in order to solve complex problems. The Team briefly mentions how they worked together in order to solve complex problems. The Team does not describe how they worked together in order to solve complex problems. Strategy The Team demonstrates an exceptional understanding of the challenges and thoroughly describes their approaches to complete the different Events The Team thoroughly describes the reasoning behind the approaches that the Team chose to complete the different Events The Team adequately describes the reasoning behind the approaches that the Team chose to complete the different Events The Team briefly mentions the reasoning behind the approaches that the Team chose to complete the different Events The Team does not describe the reasoning behind the approaches that the Team chose to complete the different Events Creativity The Team demonstrates exceptional creativity in overcoming the challenges that they encountered. The Team demonstrates creative and unique solutions in overcoming the challenges that they encountered. The Team demonstrates some creative and unique solutions in overcoming the challenges that they encountered. The Team demonstrates a creative or unique solution in overcoming the challenges that they encountered. The Team does not demonstrate any creative or unique solutions in overcoming the challenges that they encountered. Technical Achievement The Team demonstrates a high level of Technical Achievement in all areas. The Team demonstrates a high level of Technical Achievement. The Team demonstrates an adequate level of Technical Achievement. The Team demonstrates some level of Technical Achievement. The Team does not discuss any of their Technical Achievements.

15 Challenge Rules The Challenge Rules include instructions on how to compete in each of the FAU UAV Competitions challenges, as well as guidelines to ensure a safe competition. Teams are expected to familiarize themselves with the Challenge Rules before competing. Violations of the Challenge Rules will result in one of the following consequences: Verbal Warning, Penalty, Challenge Disqualification, Tournament Disqualification. 5.1 General Challenge Definitions Autonomous Period A time period during which Drones must operate using only pre-programed instructions, and sensor input. Human control of Drones is not allowed during this period. Cockpit The Cockpit is an Area right outside of the Playing Field where the Pilot and Co-pilot will use their Drone Control System to control the Drone during an Event. Control A drone is In Control of an object if as the Drone moves, the object remains in approximately the same position relative to the Drone. Driver Control Period A time period during which human control of Drones is allowed. Emergency Landing If a drone lands Outside of a Landing Zone, it is considered an emergency landing. Flight Crew A group of up to three students from a Team tasked to operate the Drone during an Event. Game Element Any object that Drones interact with to play the game. Landing Pad An Area designated for Drone landing. Navigator A member of the Flight Crew. The Navigator is tasked with preparing the drone for takeoff and retrieving the Drone at the end of an Event. If a Drone makes an Emergency Landing, the Navigator is allowed to enter the Field in order to retrieve it. A team must have exactly one Navigator. A Pilot may also be a Navigator Pilot/Co-pilot Members of the Flight Crew. The Pilot and Co-pilot will be stationed Completely Inside the Cockpit during an Event. The Pilot and Co-pilot may use the Drone Control System to run Code, and control their Drone. Teams must have at least one Pilot.

16 15 Possession An object is Possessed by a Drone if the Drone is Controlling the object and the Drone is in contact with the object. Score The act of manipulating a Scoring Element, or moving the Drone into a Space in order to earn points. Scoring Element Any Game Element that can be manipulated by a Drone in order to earn points. Takeoff Platform An Area designated for Drone takeoff. The Navigator must place the Drone on a Takeoff Platform when placing the Drone on the Playing Field. Time Limit The maximum amount of time allowed to complete an Event. The length of the Time Limit is specified for each Event. 5.2 Challenge Safety Rules Safety is a top priority of the FAU UAV Championship staff. As such, Teams must meet the following safety requirements to be considered eligible to compete. <SR01> Safety Gear - Flight Crew members must wear Safety Glasses and closed-toe shoes when inside the Competition Area. <SR02> Drone Responsibility - Members of a Team will be responsible for their Drone at all times. It is not recommended to leave a Drone unattended at any point throughout the competition. <SR03> Drone Leaving the Playing Field - Drones may not leave the Playing Field while In Flight during an Event. If a Drone leaves the Playing Field, the Lane Assistant will ask the Pilot to stop the Drone using the Emergency Stop Button. Leaving the Playing Field will result in a Verbal Warning. If a Drone repeatedly leaves the Playing Field, the Team will receive penalties. <SR04> Propellor Guards - Drones that are In Flight must have propellor guards at all times. <SR05> Navigator Safety - The Navigator may not be on the Playing Field if the Drone is In Flight. 5.3 General Challenge Rules The following rules apply to all of the Challenges at the FAU UAV Championship. These rules will serve as a set of guidelines for expected procedures during any given Challenge.

17 16 <G01> Queuing Area - All Flight Crew members must arrive at the designated Queueing Station a minimum of 5 minutes in advance of their scheduled Challenge Time Block. Flight Crew members should not Queue more than one Time Block before their event, as the previous Team may still be Queueing. <G02> Competition Area - Only members of a Team s Flight Crew who are Queueing or have an active Time Block may enter the Competition Area. <G03> Starting Early - If a Drone takes off before the Lane Assistant has signalled the beginning of the Event, the Flight Crew will receive a Verbal Warning and be asked to reset their Drone. Repeated offenses may be subject to Penalties or Disqualification. <G04> Ending Late - No points Scored after the Time Limit for an Event has been reached. If a Drone continues to score after the end of the Time Limit the Team will be subject to penalty. Repeated offenses by a Team may be subject to Disqualification. <G05> Landing - Drones must land at the end of the Autonomous Period and at the end of the Driver Control Period. If a Drone does not land autonomously at the end of the Autonomous Period, the Pilot will be asked to land the Drone. The Drone may not land using driver control prior to the end of the Autonomous Period. <G06> Interaction with the Playing Field - The Flight Crew may not interact with the Playing Field to place the Drone on the Playing Field before the Event, and retrieve the Drone at the end of the Event, or retrieve a Drone that has performed an Emergency Landing. Only the Navigator may interact with the Playing Field. <G07> Autonomous to Teleoperated Transition - During an Event that features both an Autonomous Period and a Driver Control Period, there will be a short transition between the two periods. During this time, the Lane Assistant will count any points Scored during the Autonomous Period. The Flight Crew should use this time to prepare their Drone to take off using driver control. If a Drone performed an Emergency Landing during the Autonomous Period, the Navigator may use this time to retrieve the Drone. <G08> Communications Devices - Flight Crew are not permitted to have any communications devices other than their Drone Control System with themselves during an event. <G09> Communications - The Drone Control System may not communicate with any device other than the Drone during an Event. <G10> Playing Field Error Margin - The Playing Field and related Game Elements must be within a ±1 inch margin of the dimensions stated in the Game Manual. If a team believes that a given Playing Field is outside of the margin of error, they must notify their Lane Assistant. If the Playing Field is found to be outside of the margin of error, the error will be corrected. If a Team

18 17 raises a complaint about the Playing Field during an Autonomous or Driver Control Period, the complaint will be reviewed after the Period, however no changes in score will be made. <G11> Maximum Controllers - During the Autonomous period, no USB controllers may be connected to the Drone Control System. During the Driver Control Period a maximum of two USB controllers may be connected to the Drone Control System. <G12> Incomplete Event - Teams have until the end of their Time Block to finish an Event. If a Team is not finished with an Event at the end of their Time Block, the Event is immediately ended, even if the Time Limit for that Event has not been reached. <G13> Setup Period - The Drone may not take off until the end of the Setup period.

19 Delivery Challenge Definitions Bin A Game Element in the Delivery Challenge. It is a standard five gallon bucket. During the Delivery Challenge, each bin will contain a QR Code. The Space enclosed by the walls and top of a Bin is considered to be the Inside of the Bin. A Package is considered Scored Inside of a Bin if the Package is Completely Inside of the Bin. Carrying Capacity During both the Autonomous and Driver Control Periods,the Drone may not Possess more than three Packages at one time. If a Drone is in Possession of more than three Packages, and is in Flight, the Drone return to the Landing Pad, and the extra Packages must be removed. If a Drone Scores while Possessing more than three Packages, the Team will be disqualified. Non-Scoring Bin Scoring Packages in a Non-Scoring Bin will not award any points. The Non-Scoring Bin will contain a QR code that indicates that no Packages should be delivered to it. The location of this Bin will be randomly determined before the start of the Autonomous Period. Package A Scoring Element in the Delivery Challenge. Packages measure 0.75 inches in diameter. Packages have a 6 inch string threaded through the center and tied into a loop.

20 19 QR Code A standard Quick Response Code. There will be one located Inside each Bin. The QR Codes will contain text information about the number of Packages to be delivered to each Scoring Bin in the following format: PINK : 15 BLUE: 5 The QR Code containing the above text can be seen in Fig 6.1 The Non-Scoring Bin will always contain the following text: PINK : 0 BLUE: 0 The sides of the QR Code will be 7.5 inches and there will be a 1 inch white border surrounding the QR Code Note from the FAU UAV Team: In line with <DS01>, teams may not use third-party QR code reading applications. QR code reading must be integrated into the team s Code. Quota Each Bin will have a Quota defined by the QR Code inside of it. The Quota is the number of each color Package to be scored in that Bin. If the number of Packages Scored Inside the Bin exceeds the Quota, the excess Packages will not be counted towards the Team s score. If a Quota has been met, that is, the number of each Package Scored Inside the Bin is at least the Quota, the Team is awarded bonus points. Scoring Bin Each Team will be randomly assigned two Scoring Bins. These Bins contain QR codes with quota information. Placing Packages in these Bins will earn each Team points up to the designated quota. The locations of these Bins will be randomly determined before the start of the Autonomous Period. Takeoff Platform During the Package Delivery Challenge, the Landing Pad is also a Takeoff Platform. The FAU UAV Competition will also supply an elevated platform, allowing Packages to hang freely underneath the Drone during takeoff for use as a Takeoff Platform for this Event.

21 20 Game Description The game is played on a 20.5 by 14.5 Playing Field where three Bins are arranged in a semi circular pattern as shown in the below figure. Bins will be spaced evenly over a ninety (90) degree interval with the middle Bin being ten (10) feet away from the center of the Landing Pad. The object of the game is to earn as many points as possible by delivering the required number of Packages to the correct Bins. The game begins with a one (1) minute Autonomous Period where drones must operate without user input. During the Autonomous Period, Drones can earn points by Scoring preloaded Packages into the Bins, and successfully returning to the Landing Pad. After Autonomous, there is a four (4) minute Driver Control Period. During this time, Drones can earn points by continuing to Score Packages into the appropriate Bins until time runs out.

22 21 Gameplay Pre-game Each Teams Flight Crew are expected to arrive at the designated Queueing Station five minutes before their Event begins. Teams may not fly their Drones or change their Code while they are in the Queue Area. The Flight Crew will be given twenty-five (25) pink and twenty-five (25) blue Packages for use throughout the remainder of the challenge. Teams will not be given any additional packages and will not be able to retrieve any packages that have come into contact with the Playing Field outside of the Landing Pad. Setup Period At the beginning of their Time Block, the Flight Crew should move to the Cockpit at their designated lane. The Flight Crew are allowed to use the first two minutes of their Time Block as a set up period. This time may be used to prepare the Drone for takeoff. During this time, the Navigator should place the Drone on the Takeoff Platform, and the Pilot and Co-Pilot should get ready to run their Code on their Drone Control System. The Navigator may preload up to three Packages onto the Drone at this time. Once the Flight Crew has prepared their Drone for takeoff, they must signal their Lane Assistant that they are ready to take off with a thumbs up. Once the Flight Crew has confirmed that they are ready to take off, they may not interact with the Playing Field for the remainder of the Autonomous Period. At this time, the Lane Assistant will randomize the QR Codes Inside of the Bins. After the QR Codes have been randomized, the Lane Assistant will begin the time after a countdown (3-2-1 Go!). Autonomous Period Once the Autonomous Period has begun, teams may press a button on the Drone Control System to run their Code. No further user input is allowed for the remainder of the Autonomous Period. Drones may earn points during the Autonomous Period by delivering Packages to the Bins. Packages scored during autonomous will be scored once at the end of the autonomous period, and again at the end of the Driver Control Period. Driver Control Period At the end of the Autonomous period, the lane assistant will fill out the game score sheet. At this time, the Navigator may retrieve the Drone. Teams should then prepare their drone to take off for the Driver Control Period. Once a team has prepared their drone for takeoff, they must signal their lane assistant that they are ready to take off with a thumbs up. The lane assistant will begin the time after a countdown (3-2-1 Go!). Drones may earn points during the Driver Control Period by delivering Packages to the Bins and filling Quotas. The Driver Control Period will end when

23 22 the team has reached the Time Limit or signals to the Lane Assistant that they are finished. In the case of ties in scoring, time to complete the run will be used as a secondary ranking factor. Scoring Summary Autonomous Driver Control Delivering Package to a Scoring Bin Delivering Package to a Non-Scoring Bin 5 points (up to quota) 1 point (up to quota) 0 points 0 points Filling Quota N/A 10 points

24 23 Scout Division The Scout Division Package Delivery Challenge will be played on the same field as the Ranger Division Package Delivery Challenge with a few modifications. The Scout Division Playing Field will have two Bins instead of three. The leftmost of these Bins will always be Red and the rightmost will always be Blue. The Red Bin will accept the Pink Packages and the Blue Bin will accept the Blue Packages. Scout teams will be given twenty-five (25) Pink and twenty-five (25) Blue Packages to score into the correct color Bin. The Scout division will not have an Autonomous Period; however, the Driver Control Period will remain four (4) minutes long. Setup Period At the beginning of their Time Block, the Flight Crew should move to the Cockpit at their designated lane. The Flight Crew are allowed to use the first two minutes of their Time Block as a set up period. Teams should use the Setup Period to prepare the Drone for takeoff. During the Setup Period, the Navigator should place the Drone on the Takeoff Platform, and the Pilot and Co-Pilot should get ready to run their Code on their Drone Control System. Once the Flight

25 24 Crew have prepared their Drone for takeoff, they must signal their Lane Assistant that they are ready to take off with a thumbs up. Driver Control Period Flight Crew should then prepare their Drone to take off for the Driver Control Period. Once the Flight Crew has prepared their Drone for takeoff, they must signal their Lane Assistant that they are ready to take off with a thumbs up. The Lane Assistant will begin the time after a countdown (3-2-1 Go!). Teams will have four minutes to score points with their Drone under driver control. The Driver Control Period will end when the team has reached the Time Limit or signals to the Lane Assistant that they are finished. In the case of ties in scoring, time to complete the run will be used as a secondary ranking factor. Scoring Driver Control Delivering Package to correct Scoring Bin 1 point (up to 25 per Bin)

26 Balloon Challenge Challenge Definitions Balloons The Game Element used in the Balloon Challenge. Balloons will be Qualatex 646Q Large Twisting Balloons - Dark Blue/Red varieties. The Balloons will be held in place by 32-Ounce Plastic Containers which are 5.5 tall. Together, the Balloon and the container will be at least 44 tall. Correct Column Refers to a Scoring Column that has had the Red Balloon removed while the Blue Balloon remains standing. Earns the team two (2) points. Incorrect Column A Scoring Column that has had only the Blue Balloon removed. Earns the team a one (-1) point penalty. Partially Correct Column A Scoring Column that has both the Blue Balloon and the Red Balloon removed. Earns the team zero (0) points. Scoring Column A column on the Playing Field that has Balloons.

27 26 Ranger Division Challenge Description The Balloon Challenge will require Drones to correctly identify Red and Blue Balloons. Drones will be required to pop the Red Balloons while avoiding the Blue Balloons within the Time Limit. The Playing Field will consist of a 11 x 3 grid where each grid square will be 2 by 2 in area. On every second column, one Red Balloon and one Blue Balloon will be placed on the outer grid squares in a random orientation. The Balloons will be placed on grid that follows the following pattern: The circles represent the Balloon positions. Each Scoring Column will contain a pair of one (1) Red Balloon and one (1) Blue Balloon. Note that the orientation of the Red and Blue Balloons will be randomized before each attempt. The order shown above is just one of the possible configurations of Balloons. Each square represents a 2 by 2 area. The far-right tiles are Landing Pads. The tile on the far-left is the Takeoff Platform. Teams will Score points based on the state of each column at the end of an attempt. A Correct Column will earn the Team two (2) points. A Partially Correct Column will earn the Team zero (0) points. An Incorrect Column will result in a penalty of one (-1) point. Teams that land Inside the Landing Pad will earn two (2) additional points. Each team will have two attempts to complete this Event. An attempt is considered complete once the Drone has touched the ground, the Time Limit has been reached or the Drone has left the Playing FIeld. The Time Limit for this Event is three (3) minutes. If a Team uses both of their

28 27 attempts, the better of the two attempts will be used for scoring. In the case of a tie, the time to complete the Event will be used as a tiebreaker. Gameplay Pre-game The Flight Crew are expected to arrive at the designated Queueing Station five minutes before their Event begins. Teams may not fly their Drone or change their Code while they are in the Queue Area. Setup Period At the beginning of their Time Block, the Flight Crew should move to the Cockpit at their designated lane. The Flight Crew are allowed to use the first two minutes of their Time Block as a set up period. This time may be used to prepare the Drone for takeoff. During this time, the Navigator should place the Drone on the Takeoff Platform, and the Pilot and Co-Pilot should get ready to run their Code on their Drone Control System. Once the Flight Crew has prepared their Drone for takeoff, they must signal their Lane Assistant that they are ready to take off with a thumbs up. Once the Flight Crew has confirmed that they are ready to take off, they may not interact with the Playing Field for the remainder of the Autonomous Period. At this time, the Lane Assistant will randomize the Balloons. After the Balloons have been randomized, the Lane Assistant will begin the time after a countdown (3-2-1 Go!). For the Balloon Challenge, all Ranger Division teams will be required to use their propellor guards. For Teams using the Bebop 2, propellor guards will be provided at the Challenge area if needed. Autonomous Period Once the Autonomous Period has begun, teams may press a button on the Drone Control System to run their Code. No further user input is allowed for the remainder of the Autonomous Period. Drones may earn points during the Autonomous Period by popping Red Balloons while avoiding Blue Balloons and landing Inside the Landing Pad. Note from the FAU UAV Team: In order to assist the Drone s ability to identify the color of the Balloons, the left side of the course (when looking from the Landing Pad towards the Takeoff Platform) will be placed against a mostly white background.

29 28 Scoring Teams will be scored based on the correctness of each column at the end of their run. Correct Columns will earn the team two (2) points. Partially-Correct Columns will earn the team zero (0) points. Incorrect Columns incur a one (-1) point penalty. For instance, a team with a score of five (5) that is awarded a one (1) point penalty will be assessed at four (4) points overall. A Drone that completes the entire course correctly will earn twelve (12) points. Points Per Column Correct Columns Partially-Correct Columns Incorrect Columns 2 points 0 point -1 points Landing completely inside the Landing Pad 2 points

30 29 Scout Division Challenge Description Scout Division Drones will complete a slalom course for the Balloon Challenge. The Playing Field will have no random elements and will be rearranged from the Ranger Division Playing Field into the following pattern: Drones must slalom in between the Blue Balloons, and pass through the wall of Red Balloons before landing on the Landing Pad. Teams will lose one (1) point for each Blue Balloon that has been popped at the end of the attempt. It is not necessary to pop any of the Red Balloons. Autonomous Period Once the Autonomous Period has begun, teams may press a button on their smartphone to run their Code. No further user input is allowed for the remainder of the Autonomous Period. Drones must complete the course autonomously will be assessed one (1) point for each slalom they pass through. The slaloms are defined as follows: The first and second Balloons form slalom gate one. The second and third Balloons form slalom gate two. The third and fourth Balloons form slalom gate three. Each team will have two attempts to complete this Event. An attempt is considered complete once the Drone has touched the ground, the Time Limit has been reached, or the Drone has left the Playing Field. The Time Limit for this Event is three (3) minutes. If a Team uses both of their attempts, the better of the two attempts will be used for scoring. In the case of a tie, the time to complete the Event will be used as a tiebreaker. Drones may not fly higher than 40 during this Event.

31 30 Scoring Teams will be scored based the number of gates that their Drone has passed through, and the number of Blue Balloons that have been popped. Each gate passed through earns the team (1) point. Gates can only be scored one time per run. Each Blue Balloon that has been popped will incur a one (1) point penalty. The maximum score for a single run of the Scout Balloon Challenge will be four (4) points. Teams that have the same score will be differentiated by the time taken to complete their run. Points per gate Passing through a slalom gate 1 point Popping a Blue Balloon (slalom gate marker) Landing inside Landing Pad 1 point penalty 1 point

32 Obstacle Course Challenge Definitions Clear (A Gate) A Drone can Clear a Gate by Passing Through it. A Drone may only Clear a Gate if it has already Cleared all of the other Gates that are closer to the Takeoff Platform. Gate A Game Element in the Obstacle Course Challenge. Each Gate consists of a frame constructed from PVC, and two image targets. The Obstacle Course will contain two (2) Low Gates and one (1) High Gate. Image Target A 2D image that is designed to be tracked using computer vision software to help guide the Drone to the Gates. The Gates will have the image target oriented such that the black triangle points towards the Opening of the Gate. You can download the full size image target in the Online Resources section of

33 32 Opening A Space enclosed by the frame of the Gate. The Opening on each Gate is shaded in blue on Figures 2. and 3. Pass Through (A Gate) A Drone has Passed Through a Gate if it has passed through the Opening of the Gate in the direction of the Landing Pad.

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35 34 Ranger Division Challenge Description The Obstacle Course Challenge will require Drones to autonomously fly through an ordered series of Gates. Teams will earn points for flying through the Gates and landing on the designated Landing Pad. The course will consist of three Gates pseudorandomly positioned with eight (8) feet between each Gate. The positions of the Gates will vary to the left and right (when looking towards the Landing Pad from the Takeoff Platform) over a span of twelve (12) feet. The positions of the Gates are generated so that the the length of the course is the same for each Team. The Drone will start Completely Inside the Takeoff Platform and navigate the course using the Drone s camera in combination with the provided Image Targets. The figure above is a sample of a field configuration with measurements provided in feet. Note that the vertical position of the Gates is randomized before each attempt. The positions in the figure above are just an example of a possible configuration. Each team will have two (2) attempts to complete the Event. An attempt is considered complete once the Drone has touched the ground, the Time Limit has been reached, or the Drone has left the Playing Field. The Time Limit for this Event is three (3) minutes. If a Team uses both of their attempts, the better of the two attempts will be used for scoring. In the case of a tie, the time to complete the Event will be used as a tiebreaker.

36 35 Gameplay Pre-game Each Teams Flight Crew are expected to arrive at the designated Queueing Station five minutes before their Event begins. Teams may not fly their Drones or change their Code while they are in the Queue Area. Setup Period At the beginning of their Time Block, the Flight Crew should move to the Cockpit at their designated lane. The Flight Crew are allowed to use the first two minutes of their Time Block as a set up period. This time may be used to prepare the Drone for takeoff. During this time, the Navigator should place the Drone on the Takeoff Platform, and the Pilot and Co-Pilot should get ready to run their Code on their Drone Control System. Once the Flight Crew has prepared their Drone for takeoff, they must signal their Lane Assistant that they are ready to take off with a thumbs up. Once the Flight Crew has confirmed that they are ready to take off, they may not interact with the Playing Field for the remainder of the Autonomous Period. At this time, the Lane Assistant will randomize the Gate positions. After the Gate positions have been randomized, the Lane Assistant will begin the time after a countdown (3-2-1 Go!). Autonomous Period Once the Autonomous Period has begun, teams may press a button on the Drone Control System to run their Code. No further user input is allowed for the remainder of the Autonomous Period. Drones may earn points during the Autonomous Period by Clearing Gates. Scoring Clearing a Gate Landing on the Landing Pad 1 point 1 point

37 36 Scout Division Challenge Description The Obstacle Course Challenge will require teams to autonomously fly through an ordered series of Gates. Teams will earn points for flying through the Gates and landing on the designated Landing Pad. For the Scout Division, the Playing Field will have no random elements. Instead, all Scout Division Drones will complete the same course. As shown in the above figure, the first Gate will be positioned directly in front of the Takeoff Platform. The left side of the second (when looking towards the Landing Pad from the Takeoff Platform) Gate will always be in line with the right wall of the field. The third Gate s right side will be in line with the left wall of the Playing Field. Each team will have two attempts to complete the Event. An attempt is considered complete once the Drone has touched the ground, the Time Limit has been reached, or the Drone has left the Playing Field. The Time Limit for this Event is three (3) minutes. If a Team uses both of their attempts, the better of the two attempts will be used for scoring. In the case of a tie, the time to complete the Event will be used as a tiebreaker. Gameplay Pre-game Each Teams Flight Crew are expected to arrive at the designated Queueing Station five minutes before their Event begins. Teams may not fly their Drones or change their Code while they are in the Queue Area.

38 37 Setup Period At the beginning of their Time Block, the Flight Crew should move to the Cockpit at their designated lane. The Flight Crew are allowed to use the first two minutes of their Time Block as a set up period. This time may be used to prepare the Drone for takeoff. During this time, the Navigator should place the Drone on the Takeoff Platform, and the Pilot and Co-Pilot should get ready to run their Code on their Drone Control System. Once the Flight Crew has prepared their Drone for takeoff, they must signal their Lane Assistant that they are ready to take off with a thumbs up. Once the Flight Crew has confirmed that they are ready to take off, they may not interact with the Playing Field for the remainder of the Autonomous Period. At this time, the Lane Assistant will randomize the Gate positions. After the Gate positions have been randomized, the Lane Assistant will begin the time after a countdown (3-2-1 Go!). Autonomous Period Once the Autonomous Period has begun, teams may press a button on the Drone Control System to run their Code. No further user input is allowed for the remainder of the Autonomous Period. Drones may earn points during the Autonomous Period by Clearing Gates. Scoring Clearing a Gate Landing on the Landing Pad 1 point 1 point

39 38 Overall Ranking Calculation Scout and Ranger Teams will be considered completely as separate categories for scoring. Scout Division Teams will only be ranked against other Scout Division Teams and Ranger Division Teams will only be ranked against other Ranger Division Teams. Teams will earn a number of points based on their ranking in the three Events, and the Team Video. The exact number of points earned for earning a specific rank will depend on the number of Teams participating in the FAU UAV Championship. However, the sum of the number of points earned for a second and third place will always equal the number of points earned for a first place. More generally, if the number of points earned for nth place is, then. P n+2 + P n+1 = P n P n In the case of a tie for points, the lowest rank of the Teams will be compared, and the team with the highest low rank will be ranked higher. If there is still a tie, then the Teams involved will receive the same overall ranking. All rankings will use Standard Competition Ranking.