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Urban Search and Rescue
Robot Competitions
Rules
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New 2008 rules are coming soon
with some slight modifications.
[If you have other questions, please
check our FAQs page.]
[Download
the Rules at a Glance for 2007]
New This Year
- Victim placements will be known to the operators and audience
prior to missions, and changed each round to ensure complete arena
coverage over multiple missions.
- Resets allow fixing/replacing the robot at the start point but
loss of accumulated victims, maps, and time.
- GeoTIFF map formats will be used to allow comparison of maps to
ground truth arena configurations.
- Best-In-Class awards for autonomy and mobility will be given to
robots that find the most victims in the Yellow and Red arenas respectively
over all missions.
Arena Features: Yellow, Orange, Red
- Random mazes with non-flat flooring
- Stepfield pallets (Orange: half-cubic, Red: full-cubic)
- Stairs (40°, 20cm riser, 25cm tread depth)
- Ramp (45° to test torque and center of gravity)
- Confined spaces (ceiling blocks under elevated floors)
- Visual acuity (tumbling E eye charts, hazmat labels)
- Directed perception boxes with victims/targets inside
Simulated Victims: 4 per arena, 12 total
- The chair will place victims in two high and two low boxes per
arena, in different locations each round.
- Signs of life: form, heat, motion, sound, and/or CO2
- “Trapped” are in boxes open on top
- “Void” are in boxes open to side
- “Entombed” are in boxes with view holes
- Tumbling E’s and/or hazmat labels are victim tags
Missions
- Teams queue at paddock entry prior to scheduled start.
- 15/20/25 minute missions include robot placement at the start
point and operator station setup. Each team is responsible for making
sure victims are functional (heat, batteries, tags) prior to their
mission start.
- Teams are allowed one operator during missions.
- Start points will be in the Yellow arena with all robots facing
the same direction (“north” on your map).
- Yellow arena victims can be scored only by robots with autonomous
navigation and victim identification. Operators may take over control
at any time to move into the Orange and Red arenas but must return
to the start point to resume autonomous searches.
- Teleoperative robots can only score Orange or Red arena victims,
which are placed on both sides of the Yellow arena to encourage
complete mapping.
- Resets allow fixing/replacing the robot at the start point but
loss of accumulated victims, maps, and time.
- Bumping penalties are assessed if the administrator must replace/fix
arena elements prior to next mission.
- GeoTiff map formats get full scores for map quality and will be
compared to ground truth for accuracy.
- Highest cumulative scores from 7-10 missions will be awarded 1st,
2nd, 3rd place awards.
- Best-In-Class awards will be given to individual robots
that do the following during all missions:
- Autonomy: Find the most Yellow arena victims
- Mobility: Find the most Red arena victims
Scoring Metric
The competition rules and scoring metric both focus on
the basic US&R tasks of identifying live victims, determining the
victim's condition, providing an accurate victim location, and enabling
victim recovery, all without causing damage to the environment. The
teams compete in several missions lasting up to twenty minutes with
the winner achieving the highest cumulative score from all missions.
The performance metric used for scoring encourages identification of
detailed victim information through multiple sensors along with generation
of easily understandable and accurate maps of the environment. It also
encourages teams to minimize the number of operators, which may be achieved
through using better operator interfaces and/or autonomous behaviors
that allow effective control of multiple robots. The scoring metric
also discourages uncontrolled bumping behaviors that may cause secondary
collapses or further injure victims. Since all robots compete within
the same arenas, and have access to equal numbers of victims in each
colored arena, there is no need for a weighting of scores. All robots
have the same incentive to search all three arenas to find more victims,
and so overall scoring will likely favor the most capable and reliable
robotic systems.
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Performance metric used for scoring
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