[robocup-humanoid] [2] Rule Suggestion: 15-45 seconds ReadyState

[Thomas Röfer]

Hi,

my 5 cents from the perspective of the Standard Platform League:

The Standard Platform League gave 45 seconds to the robots for automatic positioning in 2009. This is a lot. My team used automatic positioning, which looks quite nicely, but we also lost about 6 minutes of game time per preliminaries game because of it. However, the 2009 state in the Standard Platform League was that the robots were quite slow, so 45 seconds seemed reasonable.

With the AIBOs, we gave 30 s to the robots to position them correctly. The AIBO walked more than 40 cm/s and was able to turn very quickly. However, with 10 robots on the field, obstacle avoidance was quite necessary, which slowed down positioning. So, 30 s worked well.

In 2009, many robots in the Humanoid League walked a lot faster than the robots in the Standard Platform League. So to me, 30 s seems to be a reasonable time to wait, because a league should always try to adapt its rules to the progress of the better teams (top 8). Walking quickly is certainly a goal of the Humanoid League, so it is acceptable if teams are punished for not being able to do so.

Whatever time is defined, there will only be few games in which teams will actually use less time, because there often is a single robot wandering around and nobody knows whether it will still re-localize and find its way back to a correct position. So the referee usually has to wait the whole time.

Best regards,

Thomas
(B-Human)