[robocup-small] Rule changes in SSL (automatic ref and batteryswapping)

[Alexander Hofmann]

Let's keep it simple: 

(1) Larger field, 6(+2) robots
(2) Time - long enough
(3) ~ let's say batteries about 1200mAh (ok Raul, maybe 20% more, but we
ignore 240mAh more power in this case)


Imagine the following scenario:

Team A: strong and fast, runs 2 robots in the offense that run forth and
back and shoot 4 goals. Suddenly their batteries are empty. Ok, the team
has 2 more spare robots for a substitution (max of 2 robots). And they
shoot 4 more goals. 8:0. But 4 minutes before the end of the game they
loose power again because of the high power consumption. They are not
allowed to change batteries or substitute more robots (even if they have
more). So this team has to remove these 2 robots and finally looses the
game because Team B passes and the robots do not run forth and back and
keep power until the end of the game.

So there is no automatic ref or any electrical power measurement
equipment necessary. Just "Run the robots until they loose their power".

Of course the field must be large enough, the time should be long enough
and the battery capacity must be low enough to let this rule be
effective.

Side effect: A team that can afford 20 robots has no advantage to a team
that can only afford 8 robots.

So I would also limit the exchange of spare parts and substitution of
robots.

Regards
Alex
Vienna Cubes
 


-----Ursprüngliche Nachricht-----
Von: robocup-small-bounces at cc.gatech.edu
[mailto:robocup-small-bounces at cc.gatech.edu] Im Auftrag von The
BitShifter
Gesendet: Montag, 15. November 2004 02:55
An: robocup-small at cc.gatech.edu
Betreff: RE: [robocup-small] Rule changes in SSL (automatic ref and
batteryswapping)

I find this "energy budget" of an automatic ref an interesting concept.
I 
have some questions about the idea.

Would the energy budget be global to the team?  If not, how do you
propose 
to track the energy expenditure on a per robot basis with just a vision 
system?  If the only common feature that can be detected across all 
patterns, how does one account for arbitrary movements of a robot when
its 
team mark may be occluded by a handler etc?

Does the energy budget build over time?  An analogy, if a real 
football(soccer) player sprinted multiple times across the field, he
would 
become tired.  If that same player then stood in place for the next
couple 
of minutes, he would regain his or her stamina.  Also in the case of
real 
football, there is a break at halftime.  I would imagine most players
would 
recover their stamina to a large extent.

How would a team be penalized for  going over the energy budget?  Also
would 
it be charged to the team or the specific offending robot?  If its a 
specific offending robot, how would the automatic ref  signal an
arbitrary 
robot to a team?

How would an automatic ref account for substitutions?

As for the proposed rule that sparked this line, Would we eliminate 
substitutions of robots at the half (or at any other time)?  If we
restrict 
the capacity and swapping of batteries, but do not eliminate
substitutions, 
we effectively penalize teams that cannot afford to build enough robots
to 
swap them out at the half.  Teams that can field two complete teams
would 
have an unfair advantage of fresh batteries at the half.  Also, by 
restricting battery swapping, we would not realisticly account for the 
players ability to regain stamina at the half by the simple act of
resting.

Mark Goldman
Ohio University, RoboCats

The views and opinions expressed are my own and not, necissarily, those
of 
my team.

>Just a comment about battery capacities. The real capacity can
>differ sometimes by up to 20% from the nominal capacity. It also
changes
>with the age of the battery. So, what you want would be nice, but in
>real life
>some teams would end up having 20% more energy than others, depending
>on battery brand.
>
> >(c) Limit the battery capacity
> >(d) No replacing of batteries allowed during the game
>
>That is why my proposal to use an all-electronic referee in 2006
>(I repeat 2006) includes the idea of doing some form of energy
>management,
>purely using the vision software and not by hardware.
>
>Measuring energy consumption on the robot itself using hardware could
be
>also done, of course, but could lead to horrible discussions ("your
>measuring
>hardware is giving incorrect readings", etc.).


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