[robocup-small] Re: Proposed Rule Changes for SSL 2006
Luis Martinez
arrobalf at yahoo.com
Mon Dec 5 16:59:31 EST 2005
HI ALL
THIS IS EAGLE KNIGHTS COMMENTS ABOUT RULES CHANGES.
INCREASE FIELD SIZE.
No change to the rules for 2006.
-> WE SUPPORT THE INCREASE OF FIELD
SIZE (AS RAUL HAS PROPOSED), WE THINK THAT THE GAME
WILL
IMPROVE AND THE BALL WILL BE MORE TIME IN PLAY THAN
IN RESTARTS.
WALLS
No change to the rules for 2006.
-> OK
LOCAL VISION
No change to the rules for 2006.
-> WE STRONGLY BELIEVE THAT THERE MUST BE SOME KIND
OF
INCENTIVE (FOR EXAMPLE, ALLOW TEAMS WITH LOCAL VISION
TO HAVE
ONE MORE ROBOT PLAYING IN THE FIELD THAN TEAMS THAT
USE
GLOBAL VISION) TO GRADUALLY START THE CHANGE FROM
GLOBAL TO
LOCAL VISION.
RESTART RULES
This is not so much a rule change but a desire to
rewrite
some of the restart rules that are not clear.
For example the distance that the defending robot
must stay
from the penalty mark during penalty kicks, is it a
semicircle distance or a line parallel to the goal
line. For
example simplifying the rules regarding where to
restart the
ball. For example including diagrams in the rules.
-> EXCELENT, DIAGRAMS SHOULD HELP.
OFFICIAL COLOURS
If a team wishes for their opposing team to use
official colours then they must, otherwise teams are
free to use whatever colours they want. (Of course it
must still be yellow and blue markers, etc).
-> THIS SOUND GOOD,BUT WE THINK WE SHOULD ALSO HAVE
OFFICIAL PINK,GREEN, AND CYAN MARKERS TO RESOLVE ANY
CONTROVERSIES BETWEEN TEAMS, IF WE HAVE IT FOR BLUE
AND
YELLOW WHY NOT FOR THE OTHER COLORS AS WELL?
GOALS
We propose adding a round steel bar at the front of
the goal, the bottom of which is 150mm from the
carpet. The bar is 10mm in diameter, and will
provide
a firm object to hold the net above it, and ensure
that balls entering the goal are below 150mm. It
will
be black in color to avoid interfering with global
vision. Also, because the bar is rounded, it should
not damage robots near the maximum height. The net
will be a
thin wire mesh similar to Osaka.
-> GOOD, OSAKA NET WAS NOT STRONG ENOUGH AND WE SAW
SOME PROBLEMS WITH IT IN SOME MATCHES, THE ROUND
STEEL
BAR SHOULD SOLVE THIS PROBLEMS.
BALL
Many teams over the past few years have proposed a
replacement ball for the golf ball. It is very hard
for the TC to decide
on a change to the ball between competitions.
Therefore we wish to move the focus of the
discussions
to the competitions themselves. So far, several new
balls have been proposed; a less elastic ball, a
lighter ball such as the one made out of foam, the
dog
league ball and the hockey ball. Which ball is
suitable for the SSL? We need to see them
demonstrated
on a real field at the RoboCup competition. Therefore
the TC proposes that teams that are keen for a ball
change may champion the idea under a Ball Technical
Challenge as follows:
- Teams prepare a report on their proposed new ball
for distribution at the RoboCup competition.
- There must be a practical real robot demonstration,
showing dribbling (obstacle avoidance), passing and
shooting using a ball (or balls) the team recommends.
Demonstrations that have two teams against each other
are encouraged.
- Other teams will discuss the idea and either they
or the TC/OC will vote.
- *** It is important to note that there may be no
winner if the other teams or TC decide that the ball
is not suitable for the SSL. ***
- If there is a winner a trophy will be awarded to
the
team who
recommended the new ball.
-> OK
VIRTUAL ENERGY BUDGET
The TC has decided on the same course of action as
for
the ball. If you feel strongly about this concept
then
champion the idea and bring your system to the
competition. This has three parts and a team can
attempt 1, 2 or 3 of the parts:
1. A system observes the motion of each robot and
calculates the energy consumed using the vision
system. So, the TC would like to propose to develop a
vision system for observing the virtual energy of
each
robot.
The system has to be able to distinguish the IDs of
both teams' robots and track them. Moreover, the
system can calculate the consumed energy of each
robot. This must be sent to both teams.
2. An autonomous referee system that can detect
infringements of the rules and sends commands to the
teams computers.
3. An autonomous referee robot. This is a robot that
can detect
infringements of the rules (most likely from a global
vision system) and can pick up the ball and move it
to
the restart locations. Stop/Halt type commands are
still sent to the other teams computers from an PC
via
serial.
The TC proposes that teams that are keen for a these
systems may
champion the idea under a Virtual Energy/Autonomous
Referee Technical Challenge as follows:
- Teams prepare a report on their proposed new system
for distribution at the RoboCup competition.
- Their must be a practical real robot demonstration
showing
appropriate parts of the system.
- Other teams will discuss the idea and either they
or the TC/OC will vote.
- *** It is important to note that there may be no
winner if the other teams or TC decide that none of
the systems is suitable for the SSL. ***
- If there is a winner a trophy will be awarded to
the
team who
designed the new system.
-> OK
PHYSICAL ENERGY BUDGET
No changes to the rules for 2006.
-> OK
INCREASE NUMBER OF ROBOTS
Three proposals for this rule change.
A. No Change.
B. Increase the maximum number of robots per team to
6.
C. Provide the option for teams to increase the
number
of robots to x but must reduce the robot outer
diameter to x mm. I suggest 8 robots with a decrease
to 120mm. This means that there could be 5 v 5, 5 v 8
and 8 v 8 matches. It is really a small amount of
work
for teams that don't want to increase the number of
robots to ensure that they can handle detecting up to
8 opponent robots. This is similar to how the local
vision rules provide the option for teams to work on
local vision.
-> OPTION A
CHIP KICKING
We would like to redefine the rule regarding chip
kicking for to
encourage using it to pass. The proposal is then:
A. No Change. Leave the rule as a limit on chip kicks
from restarts.
B. Change the rule for restarts.
If B is your choice, there are two options for the
new
rule, these are:
1. Allow chip kicks from the first touch of the ball
and modify the free kick rule so that indirect means
it must touch one of
your team, other than the kicker, before entering the
goal AFTER it has gone below 150mm. If the ball
enters the goal without meeting this rule then an
indirect freekick is awarded from where the chip kick
was taken.
2. Allows chip kicks from the first touch of the ball
on restarts. A chip kick begins whenever the top of
the ball travels above 150mm from the ground plane.
A
chip kick ends whenever the ball touches another
robot, and the top of the ball is under 150mm. A goal
cannot be scored by a chip kick. Any such attempt at
a
goal will result in 'no goal' and a goal kick awarded
to the defending team.
Please choose whether you want to change the rule or
not (A or B), and if you choose B, which rule you
prefer (1 or 2).
-> B2
LENGTH OF PERIODS / TIMEOUT / HALFTIME:
Two proposals here:
A. Decrease the half time to 5 minutes.
B. Decrease the half time to 5 minutes, increase the
length of halves
to 15 minutes and decrease the maximum timeout time
to
5 minutes.
-> A
RED CARDS / SAFETY ENFORCEMENT:
-> OK
FREE KICK/KICKOFF PROCEDURE:
-> OK
TWO ATTACKERS RULE
The two attackers in the defense zone rule will be
removed. It was originally motivated to protect the
goalkeeper from being pushed or otherwise interfered
with by multiple attackers. However, it is the
opinion of the TC that the rule is no longer
necessary
as the "goalkeeper touching" rule offers sufficient
protection for the goalkeeper.
-> OK
EAGLE KNIGHTS
MEXICO
-----------------------------------------------------------------------------------------
> Ing. Luis Alfredo Martinez Gomez
Laboratorio de Robotica
ITAM, MEXICO
------------------------------------------------------------------------------------------
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