AW: [robocup-small] Comments&suggestion for SSL

[Beng Kiat Ng]

>> Robots are getting too fast!

>I proposed last year to make the leap to automatic refereeing, assigning a
>cost
>in terms of virtual energy to robot and shooting speed. This is the real
>solution.
>The field is locally crowded because the robots concentrate around the
ball.
>The solution is to let the robots "get tired" after they have run like
>crazy,
>in terms of the penalty paid (the virtual energy spent would be
proportional
>to the square of speed).
>A referee box with vision could make the computation (this is feasible) or
a
>referee box which
>obtains the velocity parameters from each team, and computes the energy
>spent (also feasible).
>This does not entail modifying robots, just making the referee box much
>more comprehensive.

Well, if we have a vision monitor, we could also easily limit robot top
speed. This will substantially limit the individual robot's reach. In
theory, having a vision monitor is good and feasible. But who is going to
do it? There's also the issue of added cost if the additional hardware is
required, unless we used the non playing teams' hardware. Since hardware
are quite different, this is going to be difficult.

I would really support having a vision monitor, if we could find a
practical way of implementing it.

>> Official colors worked really well this year.
>I disagree. We did not use "official" colors for any match, we just
>did not need them, everybody could adjust to the colors of the other
teams.
>Official colors have been proposed year after year, since 2000, and
>had never been considered necessary.

Raul, official color is never necessary.We don't even have to have orange
ball, or blue or yellow teams. But then, it makes it easier for every one
since we don't have to spend time recalibrating color. FU Fighters have a
big team and you have no problems dedicating a few members to calibrate the
color. For other teams, it's quite a hassle to check the colors for every
match.

Since there was a official blue and yellow, I'm suprised your team did not
use them. That also partially explain why my vision system keep losing your
robots in the middle of the field. I only noticed this after viewing the
match log data back in my lab. You see, I calibrated the vision according
to the yellow and blue on my robots, expecting your team to use the same
color. I think it's really bad that your team did not!

I think we have to include checking of official colors in the referee check
list!


>> Video evidence.

>If the field is well built, with steel lines above the goal line, there
>should be
>no problem for the referee. Video challenges would stop the game
constantly
>and would lead to more discussions.

No video challenge is to be allowed. The referee has the sole discretion to
use them only if he feels it's necessary, especially for the critical
situation. For example, a penalty call! It's not just about the ball going
on top of the net.

Regards
BengKiat