From 55f17f6c3cfbac63dcbec44bb659848ab8df23fb Mon Sep 17 00:00:00 2001 From: Ahmad Amine Date: Wed, 12 Nov 2025 02:59:11 -0500 Subject: [PATCH 01/23] Add cost cap and ban tire additives --- README.md | 28 +++++++++++++++++++++------- 1 file changed, 21 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index 9157706..b4a7b53 100644 --- a/README.md +++ b/README.md @@ -59,6 +59,11 @@ qualification and will be automatically registered to both races. * If a team has more than one car on the track at a time, the team will be flagged. * If a team is flagged three times, the team will be disqualified from the competition. + * Before the first official timed session, each team must submit a Final Bill of Materials (BoM) for the exact car that will race. The BoM must list every major hardware component (chassis, compute, sensors, drivetrain, tires, batteries, custom parts) and its declared cost. + * The total declared hardware cost of the race car must not exceed the competition Cost Cap `COST_CAP_USD` (announced by the organizers before the event). Declared cost is defined as publicly available off-the-shelf replacement cost at retail. Sponsor discounts, in-house machining time, and student labor do not reduce the declared cost, and all hardware installed during the event counts toward the Cost Cap. + * The car that runs on track must match the submitted BoM. The organizers may perform teardown after racing. Failure to submit a BoM, mismatch between the BoM and the physical car, declared cost above the Cost Cap, or misrepresentation of component cost results in disqualification. + * By entering the competition, teams agree that the organizers will publish all submitted BoMs after the event. The published data will include per-part cost, total cost, vehicle mass with race battery, measured peak motor/battery current limit, and tire compound / hardness measured at inspection. Teams also agree that any other team may freely reproduce any published hardware design or part choice in future events. Software (code, tuning, algorithms) is not published. + 3. Should a single lab wish to participate with multiple teams, the lab must provide a unique vehicle for each team. There are no limiations on the number of teams a lab can field as long as the following rules are followed: * As this is an open-source community where collaboration is encouraged, the teams are allowed to help and collaborate **before** the competition. However, during the competition, the teams must compete as independent teams. * Each team must run their own unique algorithms and cannot run the same code on multiple vehicles. @@ -85,22 +90,27 @@ qualification and will be automatically registered to both races. Only cars that meet the following constraints will be allowed to participate: - 1. The vehicle is constructed according to the official [bill of materials](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/build_car/bom.html#bill-of-materials). The teams are allowed to use components of similar or lower specifications. - 2. Each vehicle will be inspected as a part of qualification whether it meets the criteria. In case the criteria are not met, the vehicle is disqualified. + 1. The vehicle hardware must comply with the competition Cost Cap described in Section 2 and must be fully documented in the team's submitted Final BoM. Teams may source or fabricate any components, provided (i) the car passes safety inspection, (ii) it fits within the dimensional limits below, and (iii) all components and their declared retail replacement cost appear in the BoM. Historical reference BOMs (e.g., F1TENTH) are examples only and are not mandatory. + 2. Each vehicle will be inspected as part of qualification for safety, dimensional limits, and BoM / Cost Cap compliance. If the criteria are not met, the vehicle is disqualified. 3. _Chassis_: The race is designed with **1:10 Traxxas** chassis in mind (e.g., [TRA74054](https://traxxas.com/products/models/electric/ford-fiesta-st-rally), [TRA6804R](https://traxxas.com/products/models/electric/6804Rslash4x4platinum), [TRA68086](https://traxxas.com/products/models/electric/slash-4x4-tsm)). These chassis are recommended, but generally, any chassis within 15% of the traxxass cars' dimensions is allowed ( 238mm ≤ Width ≤ 341mm, 454 mm ≤ Length ≤ 654mm). Both 4WD and 2WD are permitted. 4. _Main Computation Unit_: Due to supply chain issues, we're removing constraints on the main computation unit. Any suitable computing unit that physically fits on the vehicle within the size limit is allowed. Examples inlcude Nvidia Jetson Xavier NX, Nvidia Jetson Orin Nano, Nvidia Jetson TX2, Nvidia Jetson Nano, Intel NUC, Raspberry Pi, etc. In the spirit of the competition, all computation must be done onboard the vehicle. 5. _LiDAR_: - [**Hokuyo UST-30LX**](https://www.hokuyo-aut.jp/search/single.php?serial=233), its equivalent, or anything of lower specifications is allowed. The main observed characteristics are: detection range (30 m), scanning frequency (40 Hz), and angular resolution (0.125°). + Any LiDAR sensor (2D or 3D) may be used provided it is mounted safely, fits within the vehicle packaging, and the declared cost of the sensor keeps the vehicle within the Cost Cap. The exact model and declared retail cost must appear in the Final BoM. 6. _Camera_: Both *monocamera* (e.g. Logitech C270, Logitech C920, Raspberry Pi Camera Module V2, Arducam) and *stereocameras* (e.g. Intel Realsense, ZED) are allowed. 7. _Engine_: - Only brushless DC motors are allowed. The [**Velineon 3500 kV**](https://traxxas.com/sites/default/files/3351-INST-KC1682%20Velineon%203500_ML_120813.pdf), its equivalent, or anything of lower specifications regarding power and torque are allowed. The car must have **only one** DC motor driving the wheels. The motor could either be sensored or sensorless as long as it meets the specifications + The car must have exactly one electric motor that drives the wheels. Any brushless DC motor and any ESC are allowed, sensored or sensorless, and any gear ratio is allowed, provided the system passes safety inspection. Multiple drive motors are not allowed. During inspection the organizers will record the vehicle mass with race battery and the peak motor/battery current limit for publication after the event (see Section 2). 8. _Other sensors_: Other sensors (IMUs, encoders, custom electronic speed controllers) are not restricted. Indoor GPS sensors (e.g. Marvelmind) are not allowed. 9. _Tires_: - There are no resutrictions on the tires used by the car. Any and all tires that fit the wheels of the chassis are permitted. + There are no resutrictions on the tires used by the car. Any and all tires that fit the wheels of the chassis are permitted. Use of tire additives (e.g., traction compounds) is strictly prohibited. Should any team be found to use tire additives, the team will: + 1. Have to replace the tires with new tires. The team is responsible for sourcing the new tires in time for the competition. + 2. Be disqualified from the competition if new tires are not provided in time for the competition. + 3. If time-trials have already been completed, the team's standing will be adjusted to last place. + 4. If the team has already achieved a podium finish, the podium standing will be revoked and the next best team will be promoted to the podium. + 5. Other teams are allowed to report a team that is using tire additives to the organizers. 10. _Battery_: The drive motor should be driven *at most* by one (or any equivalent combination) battery rated at most **4s**. There are no limitations on the capacity of the battery. More than one battery can be used on the car as long as only one 4s battery powers the motor. Teams are encouraged to have spare batteries to allow fast replacements in case the battery gets discharged at an inconvenient time. 11. _Transmitter Spot_: @@ -148,13 +158,17 @@ The competition will take place inside [Georgia World Congress Center](https://w ## 2.3 Inspection -1. The purpose of the Inspection is to check that the hardware of the autonomous cars meets the competition requirements and the cars are not dangerous for the environment, opponents, and people. +1. The purpose of the Inspection is to check that (i) the hardware of the autonomous cars meets the competition requirements and is safe for the environment, opponents, and people, and (ii) the car matches the submitted Final BoM and complies with the Cost Cap. 2. The inspection of the vehicles is done on the first day in the morning. 3. The inspection is done by the race referees. -4. The inspection has to be completed before the Time Trials and after any significant changes to the cars hardware or algorithms during any of the days of the event. +4. The inspection has to be completed before the Time Trials and after any significant changes to the car's hardware or algorithms during any of the days of the event. + +5. At inspection, each team must submit the Final BoM described in Section 2. The BoM must match the physical car that will race. If the BoM is missing, incomplete, or does not match the physical car, the team is disqualified and cannot proceed to Time Trials. + +6. At inspection, teams must report (a) total vehicle mass with the race battery installed, (b) peak motor/battery current limit as configured on the ESC, and (c) tire compound / hardness. These values will be published together with the BoM after the event. By entering the competition, each team agrees to this disclosure. ## 2.4 Time Trial From d896270f22dbf1caf9a93a77d39a6aeb07f00a69 Mon Sep 17 00:00:00 2001 From: Ahmad Amine Date: Wed, 12 Nov 2025 02:59:38 -0500 Subject: [PATCH 02/23] Relax dimensions to include tamiya size cars --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index b4a7b53..b7ca28d 100644 --- a/README.md +++ b/README.md @@ -93,7 +93,7 @@ Only cars that meet the following constraints will be allowed to participate: 1. The vehicle hardware must comply with the competition Cost Cap described in Section 2 and must be fully documented in the team's submitted Final BoM. Teams may source or fabricate any components, provided (i) the car passes safety inspection, (ii) it fits within the dimensional limits below, and (iii) all components and their declared retail replacement cost appear in the BoM. Historical reference BOMs (e.g., F1TENTH) are examples only and are not mandatory. 2. Each vehicle will be inspected as part of qualification for safety, dimensional limits, and BoM / Cost Cap compliance. If the criteria are not met, the vehicle is disqualified. 3. _Chassis_: - The race is designed with **1:10 Traxxas** chassis in mind (e.g., [TRA74054](https://traxxas.com/products/models/electric/ford-fiesta-st-rally), [TRA6804R](https://traxxas.com/products/models/electric/6804Rslash4x4platinum), [TRA68086](https://traxxas.com/products/models/electric/slash-4x4-tsm)). These chassis are recommended, but generally, any chassis within 15% of the traxxass cars' dimensions is allowed ( 238mm ≤ Width ≤ 341mm, 454 mm ≤ Length ≤ 654mm). Both 4WD and 2WD are permitted. + The race is designed with **1:10 Traxxas** chassis in mind (e.g., [TRA74054](https://traxxas.com/products/models/electric/ford-fiesta-st-rally), [TRA6804R](https://traxxas.com/products/models/electric/6804Rslash4x4platinum), [TRA68086](https://traxxas.com/products/models/electric/slash-4x4-tsm)). any chassis within 15% of 1:10 RC cars’ dimensions is allowed ( 150mm ≤ Width ≤ 341mm, 340 mm ≤ Length ≤ 654mm). Both 4WD and 2WD are permitted. 4. _Main Computation Unit_: Due to supply chain issues, we're removing constraints on the main computation unit. Any suitable computing unit that physically fits on the vehicle within the size limit is allowed. Examples inlcude Nvidia Jetson Xavier NX, Nvidia Jetson Orin Nano, Nvidia Jetson TX2, Nvidia Jetson Nano, Intel NUC, Raspberry Pi, etc. In the spirit of the competition, all computation must be done onboard the vehicle. 5. _LiDAR_: From c6e541e7792909381ec5e1a2b7dd5ac3ad6de8e3 Mon Sep 17 00:00:00 2001 From: Ahmad Amine <35192516+AhmadAmine998@users.noreply.github.com> Date: Wed, 12 Nov 2025 03:11:39 -0500 Subject: [PATCH 03/23] Apply suggestions from code review Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index b7ca28d..bae5d77 100644 --- a/README.md +++ b/README.md @@ -60,7 +60,7 @@ qualification and will be automatically registered to both races. * If a team is flagged three times, the team will be disqualified from the competition. * Before the first official timed session, each team must submit a Final Bill of Materials (BoM) for the exact car that will race. The BoM must list every major hardware component (chassis, compute, sensors, drivetrain, tires, batteries, custom parts) and its declared cost. - * The total declared hardware cost of the race car must not exceed the competition Cost Cap `COST_CAP_USD` (announced by the organizers before the event). Declared cost is defined as publicly available off-the-shelf replacement cost at retail. Sponsor discounts, in-house machining time, and student labor do not reduce the declared cost, and all hardware installed during the event counts toward the Cost Cap. + * The total declared hardware cost of the race car must not exceed the competition Cost Cap `COST_CAP_USD` (which will be announced by the organizers at least 8 weeks before the event). Declared cost is defined as publicly available off-the-shelf replacement cost at retail. Sponsor discounts, in-house machining time, and student labor do not reduce the declared cost, and all hardware installed during the event counts toward the Cost Cap. * The car that runs on track must match the submitted BoM. The organizers may perform teardown after racing. Failure to submit a BoM, mismatch between the BoM and the physical car, declared cost above the Cost Cap, or misrepresentation of component cost results in disqualification. * By entering the competition, teams agree that the organizers will publish all submitted BoMs after the event. The published data will include per-part cost, total cost, vehicle mass with race battery, measured peak motor/battery current limit, and tire compound / hardness measured at inspection. Teams also agree that any other team may freely reproduce any published hardware design or part choice in future events. Software (code, tuning, algorithms) is not published. @@ -93,9 +93,9 @@ Only cars that meet the following constraints will be allowed to participate: 1. The vehicle hardware must comply with the competition Cost Cap described in Section 2 and must be fully documented in the team's submitted Final BoM. Teams may source or fabricate any components, provided (i) the car passes safety inspection, (ii) it fits within the dimensional limits below, and (iii) all components and their declared retail replacement cost appear in the BoM. Historical reference BOMs (e.g., F1TENTH) are examples only and are not mandatory. 2. Each vehicle will be inspected as part of qualification for safety, dimensional limits, and BoM / Cost Cap compliance. If the criteria are not met, the vehicle is disqualified. 3. _Chassis_: - The race is designed with **1:10 Traxxas** chassis in mind (e.g., [TRA74054](https://traxxas.com/products/models/electric/ford-fiesta-st-rally), [TRA6804R](https://traxxas.com/products/models/electric/6804Rslash4x4platinum), [TRA68086](https://traxxas.com/products/models/electric/slash-4x4-tsm)). any chassis within 15% of 1:10 RC cars’ dimensions is allowed ( 150mm ≤ Width ≤ 341mm, 340 mm ≤ Length ≤ 654mm). Both 4WD and 2WD are permitted. + The race is designed with **1:10 Traxxas** chassis in mind (e.g., [TRA74054](https://traxxas.com/products/models/electric/ford-fiesta-st-rally), [TRA6804R](https://traxxas.com/products/models/electric/6804Rslash4x4platinum), [TRA68086](https://traxxas.com/products/models/electric/slash-4x4-tsm)). These chassis are recommended. Generally, any chassis within 15% of 1:10 RC cars’ dimensions is allowed (150mm ≤ Width ≤ 341mm, 340mm ≤ Length ≤ 654mm). Both 4WD and 2WD are permitted. 4. _Main Computation Unit_: - Due to supply chain issues, we're removing constraints on the main computation unit. Any suitable computing unit that physically fits on the vehicle within the size limit is allowed. Examples inlcude Nvidia Jetson Xavier NX, Nvidia Jetson Orin Nano, Nvidia Jetson TX2, Nvidia Jetson Nano, Intel NUC, Raspberry Pi, etc. In the spirit of the competition, all computation must be done onboard the vehicle. + Due to supply chain issues, we're removing constraints on the main computation unit. Any suitable computing unit that physically fits on the vehicle within the size limit is allowed. Examples include Nvidia Jetson Xavier NX, Nvidia Jetson Orin Nano, Nvidia Jetson TX2, Nvidia Jetson Nano, Intel NUC, Raspberry Pi, etc. In the spirit of the competition, all computation must be done onboard the vehicle. 5. _LiDAR_: Any LiDAR sensor (2D or 3D) may be used provided it is mounted safely, fits within the vehicle packaging, and the declared cost of the sensor keeps the vehicle within the Cost Cap. The exact model and declared retail cost must appear in the Final BoM. 6. _Camera_: @@ -105,7 +105,7 @@ Only cars that meet the following constraints will be allowed to participate: 8. _Other sensors_: Other sensors (IMUs, encoders, custom electronic speed controllers) are not restricted. Indoor GPS sensors (e.g. Marvelmind) are not allowed. 9. _Tires_: - There are no resutrictions on the tires used by the car. Any and all tires that fit the wheels of the chassis are permitted. Use of tire additives (e.g., traction compounds) is strictly prohibited. Should any team be found to use tire additives, the team will: + There are no restrictions on the tires used by the car. Any and all tires that fit the wheels of the chassis are permitted. The use of tire additives (e.g., traction compounds) is strictly prohibited at all times during the event, including inspection, practice, and races. Violations may be discovered by organizers at any time or reported by other teams (see point 5 below). If any team is found to have used tire additives, the team will: 1. Have to replace the tires with new tires. The team is responsible for sourcing the new tires in time for the competition. 2. Be disqualified from the competition if new tires are not provided in time for the competition. 3. If time-trials have already been completed, the team's standing will be adjusted to last place. From f6b48919b122a3fedaa433d22b503a0f350cb10c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Sun, 9 Nov 2025 18:30:52 +0100 Subject: [PATCH 04/23] Add latest draft of v3 rules --- rules_v3.md | 793 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 793 insertions(+) create mode 100644 rules_v3.md diff --git a/rules_v3.md b/rules_v3.md new file mode 100644 index 0000000..4420522 --- /dev/null +++ b/rules_v3.md @@ -0,0 +1,793 @@ +# RoboRacer Rules +_Note: This is a draft of v3 rules. Commentary will be removed in the final version._ + +_Version: 3.2026-draft_ + + + + + +## Outline +The main concept is to go though v2 rules, and filter out those that are not required anymore. In general, v3 should be ready for **all** competitions, introducing harmony and transparency to the overall competition environment. + +Current idea is to provide a set of rules (also, general rules) and then, optionally, competition modifications (also, additional rules). + +Even though the aim is to make the general rules shorter, it should give multiple options to host a competition; then, inside the additional rules, you specify which parts apply. + +The final rules should be coherent and leave smaller window for possible mistakes, e.g., officially having an UK competition in Pennsylvania. + +Note: Parts of these rules are taken over from rules of past ~16 competitions. Credits go to the people creating those rules. (Even though they are mostly unknown.) + +In the rules, we should cover: + +- Definitions +- Car +- Track +- Competition Area +- Practice +- Inspection +- Qualification +- Timed Race +- Head-to-Head Race + +On the other hand I want to avoid: + +- Duplicit rules (e.g., parts about the box on the car). +- Rules that are not used anymore (or not used at all). +- Change will/must into may in parts where the rules might not be applied because of the competition setting (e.g., small competitions have different need than big competitions). + +--- + +## General + + + +These rules apply for all official in-person RoboRacer competitions. + +The rules used in a competition are posted on the competition website along with a link to the specific version in the rules repository. + +- Note that competition rules may be versioned differently, e.g., by having a changelog. +- _General rules should not change after announcing them. Competition rules may change even later._ +- _Note: It is better to remove / relax something. It should not ADD more constraints._ + + + +These rules are organized as follows: +... + + +Violating the rules may result into a team warning. Upon receiving three warnings, the team may be disqualified from the competition. Multiple disqualification and repeated misbehaviour may result into a ban, i.e., unability to attend future competitions. + +- Note that warnings are induced on whole teams not individuals. + + +Ultimately, organizers reserve the right to have a final say when interpreting the rules. + +- This also applies for, e.g., assigning a blame in the case of vehicle collision in Head-to-Head. + + +## Competition rules + +With every competition instance, general rules are accompanied by competition rules. + +- Competition rules may alter general rules or introduce additional rules. + - In parts where both documents contradict, competition rules take preference. + +- Competition rules must contain at least: + - Specify timeline + - Place + - Track/area parameters + - Which parts of general rules are applied (if multiple options are available) + - Contact on organizers + - Prizes + +- Organizers reserve the right to change the rules applied in the competition. + - Subsequent changes have to be announced to all registered teams. + + +## Definitions + +- Team: A unit of people attending the competition. + - Registered team: Team that registered to the competition using an official registration method, e.g., sending a registration form. + - Approved team: Registered team that sent all required materials to the organizers before the deadline and passed all necessary checks. + - Participating team: Approved team that successfully registered on-site. + - Inspected team: Participating team that have at least one inspected car. + - Qualified team: Inspected team that successfully finished the Qualification. +- Team Member: A member of the team. Each person can belong to only one team during the competition. + - Driver: A team member that is holding the remote controller in order to hit the kill-switch when necessary. +- Car: Vehicle used in the competition, assembled according to the Vehicle specification. Each team must have their own car. + - Inspected car: Car that successfully passed through the Inspection. + - Hardware list: List of components that the car is composed of along with their costs. All parts of the Vehicle specification must be addressed along with additional sensors. + - Kill-switch: A method to remotely and immediately stop the car. +- Track: Delimited area used for racing. + - Track border: A barrier (3D or 2D) that delimits the driveable area. + - Track section: Part of the track along its centerline spanning across the whole width. + - Starting line: ? + - Finish line: ? +- Session: Block of specific competition part. + - Slot: Time block reserved for a subset of teams. Single session usually contains multiple slots. + - Heat: Single instance of n-teams racing on the track. A race can be composed on multiple heats. +- Touching: Moving an object by less than 5 cm. +- Crashing: Moving an object by 5 cm or more. When interacting with another car, crashing means significantly changing its expected trajectory. +- Overtake: Act of bypassing opponent car by at least half of its length. +- Penalties: Penalties result into minor punishments for not adhering to the rules. +- Violations: Major infringements of the rules. +- Warning: Issued for violating the rules. Three warnings may lead to disqualification from the competition. +- Disqualification: Revoking the ability to attend the competition. +- Whistle: Sound signal to raise teams' attention. Used during the race to highlight important event. May be accompanied with flags. +- Flags: Visual signal to the teams. May be accompanied with whistles. When flags are used during the competition, their meaning is as follows: + - Checkered flag: A flag is raised if the team is on the last lap. The flag is dropped and then waved when the team finishes and wins the current round. + - Red flag: A flag is raised if a race-stopping car crash occurs. The flag is dropped after all cars are stopped, and the team representatives are allowed to approach the track. + - Yellow flag: A flag is raised if the team is warned for a rule violation. _This should be, e.g., slow speed section._ + - Black flag: A flag is raised if the team is disqualified. The flag is dropped after the disqualified team stops the car and leaves the track. The opponent is allowed to continue the race. + - Green flag: A flag is raised to signal that the race is safe to continue. The flag is dropped after the race resumes. + - Blue flag: A flag is raised during open testing to indicate that a team needs to let another team pass. + + +## Vehicle specifications + +Each vehicle will be inspected during the competition whether it meets the specified criteria. In case the criteria are not met, the vehicle is not allowed to be used in the competition. + +Following rules mostly specify the upper bounds on the components; generally everything that is of a lower spec is allowed. + +1. Size + - Width: 296mm ± 10% + - Length: 568mm ± 10% + - Height: ≤ 400mm + - The size limit is induced on the fully equipped car, i.e., as used during the race. + - The height limit is "hard", i.e., it can't be violated at any moment, e.g., because of springs. +2. Weight + - 5kg _TODO: Update this._ + - The weight limit is induced on the fully equipped car, i.e., as used during the race. +3. Chassis + - No additional limits. + - Recommended: Traxxas 1:10 (e.g., TRA74054, TRA6804R, TRA68086). +3. Bumpers + - Front bumper (at least 5 cm thickness) from a soft material is required. + - The bumper must be attached to the car in a way that it does not fall off at any time during the head-to-head race. + - Example: TRA7436 + TRA7437 + TRA7415X +4. Tires + - No limits. +4. Drivetrain + - No limits. Both 2WD and 4WD are allowed. +4. Motor + - Electric motors only. + - Only a single motor can be used for operating the drivetrain. + - ... TODO: Add that Velineon is the upper limit (?) + - _Felix: If so, what is the limit? The non-existant torque parameters of the motor? The kV, can be, at best, interpreted as inverse proportional to the torque?; So: higher kV -> higher max RPM & lower torque; So limit: max. 4S with Velineon +/- 10% for torque (we should check what the hobbywing has for this)_ + - _J: You are completely right, but we should (kinda have to) address that. Sooner or later someone *wink wink* tries to drive with something more powerful._ + - _Felix: https://things-in-motion.blogspot.com/2018/12/how-to-estimate-torque-of-bldc-pmsm.html describes the relationship between torque, KV and current (might also be interesting for the control team...). Should we, if this is correct, use this for the limits?_ + - TODO: Add torque limits, Amp limits of motors. + - Recommended: Velineon 3500 +5. Battery + - Up to **4S** for powering the motor. + - Additional batteries for powering other components are not limited. +5. Electronic Speed Controllers + - No limits. + - Recommended: VESC +5. Remote controller + - No limits. + - It must have a kill-switch ability so the driver is able to stop the car immediately and remotely. +6. CPU + - No limits, but all computation during the race has to be done onboard the vehicle. + - Recommended: NVIDIA Jetson Xavier, NVIDIA Jetson Orin, Intel NUC, etc. +7. LiDAR + - Number of planes: Not limited + - Detection range: Not limited + - Scanning frequency: ≤ 40Hz + - Angular resolution: ≥ 0.125°s + - Recommended: Hokuyo UST-30LX, Hokuyo UST-10LX, etc. +8. Camera + - No limits. Monocameras and stereocameras are allowed. +9. External localization + - GPS and similar indoor solutions are not allowed. + - Exception: Organizers. +10. Production cost + - No limits. + - **Starting from 2027 it will be limited to ~ 5000$.** (Current estimate.) + - Contains the price of all components + price estimation of custom parts. + - The retail price must be free of any discounts. + - Custom parts: The price estimate for a company to manufacture your source file. + +Other sensors are not restricted, however they MUST be mentioned in the hardware list. + + +### Vehicle parameters + +- You can't hinder the opponents from detecting your car, e.g., using materials/colors to adjust the car reflectivity. +- While on the track, the car MUST occupy a square-shaped space of size at least 12×12 cm at every horizontal plane between 10 to 30 cm above the ground. Usually, this is achieved by placing a 12x12x20cm box on top of the car at its back. + - The box should be made of LiDAR perceivable material (e.g., cardboard). + - As long as the object results in the desired LiDAR signature, the object can have any additional aeorodynamic shapes added like fins, wings, etc. + - The box maybe of any color as long as it is easily perceivable by the LiDARs of the other cars. +- Tire chemicals (additives) that may leave residuals on the track surface are not allowed. + - Cleaning liquids are allowed. _TODO: Need to clarify._ + + +## Track + +Racing track is a delimited area used for racing. + +The competition rules must specify: + +- Nature of the surface (flatness, reflectiveness, material). +- Nature of the room (e.g., walls/windows, ceiling type). +- Type of delimiters (e.g., air ducts, cardboard boxes). +- Height of delimiters. +- Maximum size (e.g., area) of the track. +- List of used track features. + + +### General track notes + +- The surface friction may naturally slightly differ across the track. +- When the room is surrounded by windows or semi-transparent surfaces, it might result into incorrect sensor measurements. +- When the track is delimited by a set of pipes (on top of each other) there might be gaps between them. +- Due to the car tilting, the sensors might see over the track borders or see the floor. +- When multiple tracks are present, their parameters, features and overall nature may differ. + - Current session may differ as well. In that case the organizers must clearly state the current session on each track. + + +### Track behaviour + +- The teams are obliged to be respectful with other users of the track. + - Teams are encouraged to pay attention when moving around the track, especially more when, e.g., running or jumping. + - Teams are not allowed to obstructing other teams by any means (e.g., if specified, leaving a stationary car on the track outside of the designated area). + - Teams are not allowed to endanger other teams and cars by an inappropriate behaviour. +- While testing the car, the team should limit the amount of damage to the track to an absolute minimum. +- Whenever using the track, there has to be at least one team member that keeps an eye on the car and is prepared to activate the kill-switch. +- Teams that are not taking part in the session should avoid the track at all times. +- Driving outside of the track is generally not allowed. + - Exception is testing the car in very slow speeds. + + +### Track Features + +A list of possible track features follow. Competition rules will specify, which of them (might) apply. + + +#### Dead-ends + +Track contains parts that do not lead to the finish line. + +- Driving into these track sections is not penalized. + + +#### Speed-restricted sections + +Track contains sections with defined speed limits. + +- Driving with forbidden speed is considered as a ... _(which type of violation?)_ + - During the race, the team has to stop the car and move it before the speed-restricted section. +- The speed limit is defined in one of the following ways: + - Area delimitation with special markings. +- The competition rules have to specify: + - Speed limits used within the competition. + + +#### Pit lane + +Track contains sections that are marked as a pit lane. + +- When this track feature is used, stopping outside the pit lane is not allowed. + - Stopping outside of pit lane is considered as a ... _(which type of violation?)_ +- Teams are allowed to add cars to the track only at a pit lane area. + - Teams are highly encouraged to do the car removal here as well, unless required by the current situation. + + +#### Open walls + +Track borders are not closed, i.e., there are horizontal gaps in them. + +- Gaps might be in the inner walls as well as in the outside walls. + +- Inside the gaps the track border is delimited by a tape on the ground (or any other marking technique). + +- Driving inside the gaps is not allowed. + - Crossing the track border is considered as a touch. + - Crossing the track border by parts of at least 3 wheels is considered as a crash. + + +#### Intersections + +_Note: Currently a placeholder._ + +The track contains intersections, i.e., a track section where multiple driving directions are allowed. + +- In the intersection area, following rules apply... + + - Speed limit + - Right of way + - ... + +- The lap is marked as completed only when all track sections were driven through during it. + + +#### Surface changes + +The track surface is deliberately altered in certain track sections. + +- This change can both reduce or increase surface friction. +- When surface is changed, the track does not have to be entirely flat; a small height change may occur. + - This change is below a certain threshold to not pose a threat to the cars. +- Competition rules must specify: + - How the surface is altered. + - The surface cannot be altered by methods that could damage the cars, e.g., spilling water on the track. + - Maximum height change between two surfaces (mm). + + +#### Track splits + +The track contains track splits, i.e., the track section is split into multiple paths. + +- Driving through the track may be performed by any of the paths. They are considered equal. + - However, they might not be equal performance-wise, e.g., taking one of the paths might be more beneficial than the other. +- Driving though only one of the paths is required for lap completion. +- Competition rules have to specify: + - Track width in the split section, in case it would differ from the general track width limit. + + +#### Slopes + +The track contains a sloped section, e.g., a bridge. + +- In this section the track is generally not flat. +- Competition rules must specify: + - Maximum elevation (%). + +_Note: When using this track feature it can't prevent teams using single plane lidar from completing a lap._ + + +#### Banks + +The track contains banks, i.e., the track is elevated in the outer parts of turns. + +- In this section the track is not flat. +- Competition rules must specify: + - _Bank?_ + + +## Competition organization + +The competition is composed of: + +- Registration +- On-site registration +- Practice +- Inspection +- Qualification +- Time Trial +- Head-to-Head Race +- Awards ceremony + +``` +Felix: +Who is responsible for what and who can decide what? (organizer roles) + +Types of Referess: +- Race Director(s) (determined by foundation, probably Ahmad) +- Race Organizer(s) (local-ish organizers, resposible for the whole race) +- Track marshall(s) (local-ish volunteers, responsible for one track) +- Track referee(s) (local-ish volunteer, subordinate of track marshall) + +What things can be determined by who and where is the next highest instance required. What about conflict of interest? + +Any higher role can also perform the tasks of a subordinate rule. + + +J: I think this is not something that has to be in rules... more like in the rules for organizers. But yes, it should be clear who is "the contact person". + +Felix: I would day that for transparency it should be included herer as well. Then teams know who to bother with what and who might have a conflict-of-interest. +``` + + +## Registration + +_Note: Competition rules should specify: registration method, requirements, deadlines._ + +- Team interested in participating in the competition has to register using a official registration method. This method may have its deadline. +- Registrations received after the deadline may not be accepted. +- Registration is confirmed by the competition organizers after completing all required steps. These are, but not limited to: + - Filling up the registration form. + - Submitting a video of the car autonomously driving. + - Submitting a hardware list. + - Hardware list will be made publicly available for other teams after the competition. +- Not submitting in time may void the registration. +- Registration not confirmed by the organizers is not deemed valid. + + +## Eligibility + +_Note: I wanted to add something in between -- you are registered, but can you actually attend the competition?_ + +The team is eligible to attend the competition as long as: + +- Registration fee is paid. +- Registration is confirmed by the organizers, i.e., the team is approved. +- All required forms and materials are sent to the organizers by the given deadline. + - If applicable, the car does not differ from the submitted hardware list. +- _Felix: This is part of the on-site registration/inspection, I'm not sure if we actually need this section... We could add it as a "Checklist" in general_ + + +## On-site registration + +Upon their arrival to the competition site, the teams must promptly register on-site in order to race. + +- The teams have to register on-site in the given time frame. + - Exceptions are allowed as long as they are discussed with the organization team. + - If a team is late for the registration, it must inform the organizers (e.g., for flights with a tight deadline, they can send the flight number to the organizers and this is considered enough notice). + +- The on-site registration is composed of: + + - Confirmation of team details. + - Pre-registration of the cars used within the competition. This also includes associating the car with its hardware list if a part of the registration. + - Organizers may allow cars without the hardware list if they can approve all required components on the spot. + +- Upon completing the on-site registration the team is allowed to: + + - Attend the competition. + - Make use of the team designated area. + - Sign in to the sessions. + +- Not completing the on-site registration in time may result into a team disqualification from the competition. + + +## Session + +Parts of the competitions are organized in so-called sessions. + +- The organizers will use following various notification systems during the sessions, such as (but not limited to). Competition rules specify which apply: + - Colored flags. + - Whistles. + +- The session/slot/heat timers are fixed to the time slot and no extensions are given. + - Missing out a time slot does not give the team an additional slot. + - Upon their mutual agreement, the teams are allowed to exchange the slots by informing the responsible organizers. + +- Opt-in session slots are designated on a first-come-first-serve (FCFS) basis. + - The teams register individually for a given time slot using a method announced by the organizers during on-site registraion. + - There may be a limit of time slots each team can register into. + - These slots are contained in, but not limited to: + - Closed Practice + - Inspection + - Qualification + - Time Trial + +- Organizers must share timetables of other session slots early enough so the teams have time to prepare. + + +## Practice + +Practice is a session for the teams to train and test their car directly on the track. + +- Practice track should contain all track features used during the competition, but its layout may differ. + - When the layout differs, there must be another practice session before the actual race to allow the teams to map the track. + + +### Practice variants + +A list of possible practice variants follows. Competition rules specify which of them apply. + + +#### Shared Practice (Group) + +Practice session where the track is opened for a subset of teams specified by the organizers. + + +#### Open Practice + +Practice session where the track is opened for all teams. + + +#### Closed Practice (Single) + +Practice session where the track is reserved for one team only. + + +#### Mapping Practice + +Practice session used for mapping the track. + +- Teams are not allowed to test their racing algorithms during this practice. +- A speed limit may be employed for this practice, especially when it is Shared. + + +## Inspection + +The purpose of the Inspection is to check that the hardware of the autonomous cars meets the competition requirements and the cars are not dangerous for the environment, opponents, and people. + +- The inspection of the vehicles is done in a dedicated time-frame. +- The inspection is done by the race referees. +- The inspection has to be completed before the Qualification. + - Any significant changes to the cars hardware may void the inspection. + - Teams are advised to inform the organizers prior to these changes. +- When a hardware list is submitted as a part of the registration, the car is checked to match these parameters. + - Organizers may also approve using cars that do not match their parameters. +- Car that is not inspected is not allowed to be used in the competition. + + +## Qualification + +Qualification is a session testing the autonomous capabilities of the racing car. The goal is to complete a single lap without touching and crashing anything. Anything can be: + + - Track borders + - Obstacles + - Other cars + +- Qualification is done with a single racing car on the track. +- Only inspected car can be used in the Qualification. + - In case the team intends to use multiple cars during the competition, they have to qualify with all of them. + +- The car can qualify during a practice session. + +- The Qualification may be merged with Time Trial. + - In this case the obstacle avoidance capability has to be checked separately during a dedicated session, e.g., during Practice. + +- There are no penalties. Touching and/or crashing results into another try. (Up to the time limit.) + - Teams may manually place the car to the starting line. + +- Organizers might add more slots based on the success rate of the teams. + + +## Race + +Main part of the competition is composed of race sessions in which the teams are scored. + +- Teams must pass the Qualification to join the races. + +- The race starts in one of the following ways. Competition rules specify which are used. + - **Manual**: Upon signalizing, the teams start their cars manually. + - The signal can be one of many types, e.g., visual, audial. + - **Automatic**: Starting signal is transmitted directly into the car. + - _Felix: You can copy that part from the corresponding section in the T2V module blog post (and read it again...)_ + - **Mixed**: Each competing team may select its starting method. + +- The race is stopped (paused) by, e.g.: + - Raising a red flag. + - Raising a black flag. + - Using a whistle. + +- During the race, the driver has to hold the remote in a raised hand to be clear that the car is not manually controlled. + +- Obstacles and opponents may be overtaken from both the right or the left side. + + +### Race penalties + +During a race certain mild accidents may happen. Following steps and penalties are applied. + +- Touching is not penalized. + - Excessive/repeated touching may be considered as a crash. + +- Upon crashing into an obstacle/track border, the team has to: + 1. Stop its car. + 2. Move the car (by hand or using the remove control) to the side of the track next to the latest position before crash. + 3. Repair the track and/or place the obstacles to their appropriate positions. + 4. Wait for the clearance from the organizers. + 5. Start the car and continue the race. + +- During all of this, the opponent’s car must not be restricted by the team’s actions and the opponent is allowed to further race without stopping its car. + +- Upon crashing into the opponent (e.g., one of the cars significantly diverges from its expected trajectory): + 1. Referees call the crash and pause the race, teams have to stop their cars. + 2. Referees judge which car is at fault. + 3. Both cars are placed at the location of the crash, with the at-fault car placed behind the other car by 2 meters. + - If the team that was crashed into is able to autonomously detect and recover from the crash by stopping on the side of the track, that team is granted an extra head-start of 1 meter before resuming the race (i.e., the at-fault car is placed 3 meters behind the other car). + 4. The referees resumes the race. + + +### Race violations + +Violations are major rule infringements that may result into warnings. Severe offenses may even lead to disqualification from the competition. + +- A crash is not considered a warning unless judged by the referees. + - Crashes that result in a warning include but are not limited to "malicious" crashes where the autonomous car did not attempt to slow down or steer away from the opponent. + - Under special circumstances, the referees may decide to give a warning to a team with the option of stopping the race to address the issue. The team has a maximum of 5 minutes to fix the issue and resume the race. + - This does not apply for double-elimination. + +- The algorithms must not intentionally hinder the opponent or perform any damage to it. Specifically, maneuvers such as deliberate crowding of a car beyond the edge of the track or any other abnormal change of direction are strictly prohibited. + - Violating this rule may lead to disqualification regardless the amount of warnings issued. + +- Upon receiving 3 warnings, the team is disqualified from the competition. + - During a race this automatically means the opponent wins. + + +## Time Trial + +_Note: Competition rules should specify: #heats, time per heat; e.g. 2x5 minutes._ + +Time Trial is a race with a goal to drive through the designated track as fast as possible and as consistently as possible. The idea is to push the algorithms to their limits. + +- Each team must pass the Qualification to be able to participate in the Time Trial. + +- Time Trial is used as a seeding technique for the Head-to-Head Race. + - This does not apply if Head-to-Head does not require seeding. + +- The race consists of multiple heats, two by default. Each heat lasts for a given time (e.g., 5 minutes), and the goal is to drive a single lap in as short time as possible and to drive as many complete laps as possible. Crashing and stopping the car does not pause the heat timer. + +- The teams are allowed to change the configuration of their algorithms in between the heats, and even during the heat. When the configuration is changed during the heat, the car must stand still. In other words, the teams cannot update the configuration on-line while the car moves. + +- The map (track layout) is known a priori (from a practice before) and the track layout does not change during the race. Keep in mind that cars crash into the walls and the layout of the track might slightly shift a little bit. Please consider this in your algorithms. + + +### Evaluation + +- Each team will be evaluated based on the following criteria: + + - Lap time. + - Lap time is measured between two subsequent finish line crossings. + - It will be measured with a time-keeping system provided by the organizers. + - Consecutive uninterrupted laps. + - A (1) uninterrupted lap is counted if and only if in-between the last two finish line crossings the car was not stopped. + +- Evaluation is performed in multiple categories, each one resulting in its result table. + + - Fastest laptimes: Teams are ranked based on their fastest lap times. + - Consecutive uninterrupted laps: Teams are ranked based on the highest number of consecutive uninterrupted laps they complete. + +- Points are awarded in each category separately according to the ranking of the teams. + + - A (1) Point is given for completing at least one heat. + - A (1) Point is given for every team that has worse scoring. + - _Note: Effectively, it is the same as before, with 10 teams, the first gets 10 points._ + +- The final score for the Time Trial is the sum of the points from all categories. + + - Note that the best achieved results may be from different time slots. + - This allows teams to push their algorithms to the limits in each of the categories. + +- Should a tie occur in the final ranking, the team with more consecutive uninterrupted laps is ranked higher. + - Additional tie is resolved by fastest lap time. + - In case the teams tie with both criteria, the tie is, with respect to the seeding, resolved by a random method (e.g., coin flip). + + +## Head-to-Head Race + +_Competition rules have to specify: Timeslot, competition type, ..._ + +_Outline: What?, General overview, starting position, race start, race rules, penalities, etc._ + +Head-to-Head race is a race with multiple cars on the track at the same time. The idea is to drive as fast as possible while not crashing into the track and/or opponent. + +- During one head-to-head race two teams race against each other. + +- The initial placement of the competing cars in one of the following ways. Competition rules specify which are used. + - **Side-by-Side**: Both competing cars start on the same starting line. + - The teams will start side-by-side seperated by one car width (30cm) from each other. + - **Grid** + +- In the first round, the team that ranked higher in Time Trial chooses the starting position. In case of more rounds: + - In the second round, the teams switch sides. + - Should a third round be necessary, a coin flip will determine the starting position. The team that ranked higher in Time Trial will call the coin flip (i.e., heads or tails). The team that wins the coin flip chooses the starting position. + +- As opposed to Time Trial, no reconfiguration is allowed during the race. + + +### Tournament types + +Below a list of possible tournament types follows. Competition rules specify, which are used. + +#### All-vs-all + +Every team races with every other team. + +- The final ranking is determined by the amount of wins. + +_Note: This won't be probably ever used for a competition, but mostly for a small scale events._ + +_Another note: It is slightly better to do every race twice._ + + +#### Single Elimination Bracket + +#### Double Elimination Bracket + + +### Competition model + +Below a list of possible competition models follows. Competition rules specify which are used. + +#### Single Cup + +All teams are racing in the same cup. + + +#### Single Cup + Final Four + +All teams are racing in the same cup using double elimination bracket, but the finals (with the top four teams) are performed using single elimination bracket. + +- The double-elimination tournament with two brackets is seeded by results of the Time Trial. +- The two winners of each bracket will qualify to compete in the Final Four race. This final tournament will feature a single elimination bracket. + + +#### Double Cup (Classic Cup, Master Cup) + +During the seeding, the participants are split into two groups, cups. Note that the rules may differ between the cups. In that case the Competition rules specify how. + +Admission to Master Cup (with respect to the seeding) is done as follows: + +- Master Cup may contain up to the half of the team roster. +- First 4 teams automatically proceed. +- Up to the first half, all teams have an opportunity to either join or not. +- The rest of the master cup teams may be filled by teams that placed top 3 in the last 3 years (1100 days). + +If the racing track is changed for the Master Cup, the teams are given an extra practice session to test their car and algorithms on the new track. + + +### Evaluation + +- Each team will be evaluated based on the following criteria: + + - Amount of laps completed. + +- The first car that completes given amount of laps wins. + - In case that this objective is not achieved by any car, the amount of completed laps along with the achieved progress on the track is the decisive factor. + +_TODO: List other tiebreaker factors, e.g., overtakes, crashes._ + + +## Awards ceremony + +The competition concludes with the Awards ceremony. The ceremony may be accompanied by a workshop session. + +- During the workshop session, top 4 teams from each cup are encouraged to briefly talk about their approach. + - In case a team cannot attend the workshop, they may send a small presentation instead. + - The presentations are shared after the competition on the competition website. From 79038e394d973f9726ad580c8531ee95567e6e00 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Fri, 28 Nov 2025 12:59:42 +0100 Subject: [PATCH 05/23] Update the draft according to Ahmad's comments --- rules_v3.md | 51 +++++++++++++--------------------------------- rules_v3_cguide.md | 42 ++++++++++++++++++++++++++++++++++++++ 2 files changed, 56 insertions(+), 37 deletions(-) create mode 100644 rules_v3_cguide.md diff --git a/rules_v3.md b/rules_v3.md index 4420522..102d776 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -132,14 +132,6 @@ With every competition instance, general rules are accompanied by competition ru - Competition rules may alter general rules or introduce additional rules. - In parts where both documents contradict, competition rules take preference. -- Competition rules must contain at least: - - Specify timeline - - Place - - Track/area parameters - - Which parts of general rules are applied (if multiple options are available) - - Contact on organizers - - Prizes - - Organizers reserve the right to change the rules applied in the competition. - Subsequent changes have to be announced to all registered teams. @@ -187,8 +179,6 @@ With every competition instance, general rules are accompanied by competition ru Each vehicle will be inspected during the competition whether it meets the specified criteria. In case the criteria are not met, the vehicle is not allowed to be used in the competition. -Following rules mostly specify the upper bounds on the components; generally everything that is of a lower spec is allowed. - 1. Size - Width: 296mm ± 10% - Length: 568mm ± 10% @@ -227,7 +217,7 @@ Following rules mostly specify the upper bounds on the components; generally eve 5. Remote controller - No limits. - It must have a kill-switch ability so the driver is able to stop the car immediately and remotely. -6. CPU +6. Compute - No limits, but all computation during the race has to be done onboard the vehicle. - Recommended: NVIDIA Jetson Xavier, NVIDIA Jetson Orin, Intel NUC, etc. 7. LiDAR @@ -292,6 +282,7 @@ The competition rules must specify: - Teams are encouraged to pay attention when moving around the track, especially more when, e.g., running or jumping. - Teams are not allowed to obstructing other teams by any means (e.g., if specified, leaving a stationary car on the track outside of the designated area). - Teams are not allowed to endanger other teams and cars by an inappropriate behaviour. +- The teams should not intentionally run code that they expect will crash into the track boundaries. Overly aggressive testing may mess with the track layout. - While testing the car, the team should limit the amount of damage to the track to an absolute minimum. - Whenever using the track, there has to be at least one team member that keeps an eye on the car and is prepared to activate the kill-switch. - Teams that are not taking part in the session should avoid the track at all times. @@ -352,7 +343,7 @@ _Note: Currently a placeholder._ The track contains intersections, i.e., a track section where multiple driving directions are allowed. -- In the intersection area, following rules apply... +- In the intersection area, following rules may apply: - Speed limit - Right of way @@ -418,31 +409,9 @@ The competition is composed of: - Head-to-Head Race - Awards ceremony -``` -Felix: -Who is responsible for what and who can decide what? (organizer roles) - -Types of Referess: -- Race Director(s) (determined by foundation, probably Ahmad) -- Race Organizer(s) (local-ish organizers, resposible for the whole race) -- Track marshall(s) (local-ish volunteers, responsible for one track) -- Track referee(s) (local-ish volunteer, subordinate of track marshall) - -What things can be determined by who and where is the next highest instance required. What about conflict of interest? - -Any higher role can also perform the tasks of a subordinate rule. - - -J: I think this is not something that has to be in rules... more like in the rules for organizers. But yes, it should be clear who is "the contact person". - -Felix: I would day that for transparency it should be included herer as well. Then teams know who to bother with what and who might have a conflict-of-interest. -``` - ## Registration -_Note: Competition rules should specify: registration method, requirements, deadlines._ - - Team interested in participating in the competition has to register using a official registration method. This method may have its deadline. - Registrations received after the deadline may not be accepted. - Registration is confirmed by the competition organizers after completing all required steps. These are, but not limited to: @@ -544,7 +513,7 @@ Practice session where the track is reserved for one team only. #### Mapping Practice -Practice session used for mapping the track. +Practice session used for mapping the track. May be organized as any other practice variant with additional rules: - Teams are not allowed to test their racing algorithms during this practice. - A speed limit may be employed for this practice, especially when it is Shared. @@ -573,6 +542,8 @@ Qualification is a session testing the autonomous capabilities of the racing car - Other cars - Qualification is done with a single racing car on the track. + - Other cars may be used as static/dynamic obstacles. + - Only inspected car can be used in the Qualification. - In case the team intends to use multiple cars during the competition, they have to qualify with all of them. @@ -600,6 +571,11 @@ Main part of the competition is composed of race sessions in which the teams are - _Felix: You can copy that part from the corresponding section in the T2V module blog post (and read it again...)_ - **Mixed**: Each competing team may select its starting method. +- The race start has one guaranteed signal: "Go". Competition rules may add other signals. + - _Note: Use this as a "template" for automatic start up. Then merge it._ + - Usage of other signals (such as "Ready" and "Set") much be specified in the competition rules. + - Countdowns between the signals may differ for every start. + - The race is stopped (paused) by, e.g.: - Raising a red flag. - Raising a black flag. @@ -646,6 +622,9 @@ Violations are major rule infringements that may result into warnings. Severe of - The algorithms must not intentionally hinder the opponent or perform any damage to it. Specifically, maneuvers such as deliberate crowding of a car beyond the edge of the track or any other abnormal change of direction are strictly prohibited. - Violating this rule may lead to disqualification regardless the amount of warnings issued. +- Teams are allowed to report other teams' violations. + - If the reported team is found guilty, it receives a warning; otherwise it goes to the reporting team. + - Upon receiving 3 warnings, the team is disqualified from the competition. - During a race this automatically means the opponent wins. @@ -685,9 +664,7 @@ Time Trial is a race with a goal to drive through the designated track as fast a - Points are awarded in each category separately according to the ranking of the teams. - - A (1) Point is given for completing at least one heat. - A (1) Point is given for every team that has worse scoring. - - _Note: Effectively, it is the same as before, with 10 teams, the first gets 10 points._ - The final score for the Time Trial is the sum of the points from all categories. diff --git a/rules_v3_cguide.md b/rules_v3_cguide.md new file mode 100644 index 0000000..8e59d77 --- /dev/null +++ b/rules_v3_cguide.md @@ -0,0 +1,42 @@ +# RoboRacer Rules Competition Guide +_Note: This is highly Work-in-Progress attempt for a Competition Guide for organizers._ + + +## Competition rules + +- Competition rules must contain at least: + - Specify timeline + - Place + - Track/area parameters + - Which parts of general rules are applied (if multiple options are available) + - Contact on organizers + - Prizes + + +## Competition organization + +Felix: +Who is responsible for what and who can decide what? (organizer roles) + +Types of Referess: +- Race Director(s) (determined by foundation, probably Ahmad) +- Race Organizer(s) (local-ish organizers, resposible for the whole race) +- Track marshall(s) (local-ish volunteers, responsible for one track) +- Track referee(s) (local-ish volunteer, subordinate of track marshall) + +What things can be determined by who and where is the next highest instance required. What about conflict of interest? + +Any higher role can also perform the tasks of a subordinate rule. + + +J: I think this is not something that has to be in rules... more like in the rules for organizers. But yes, it should be clear who is "the contact person". + +Felix: I would day that for transparency it should be included herer as well. Then teams know who to bother with what and who might have a conflict-of-interest. + + +## Registration + +_Note: Competition rules should specify: registration method, requirements, deadlines._ + + + From d24d04bf8e8d848ba1205b615c12c9e1f2869373 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Mon, 5 Jan 2026 17:23:09 +0100 Subject: [PATCH 06/23] Update the draft to make it close to final --- rules_v3.md | 334 ++++++++++++++++++++++++++++------------------------ 1 file changed, 181 insertions(+), 153 deletions(-) diff --git a/rules_v3.md b/rules_v3.md index 102d776..fb85a2e 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -4,6 +4,7 @@ _Note: This is a draft of v3 rules. Commentary will be removed in the final vers _Version: 3.2026-draft_ + - + --> ## Outline The main concept is to go though v2 rules, and filter out those that are not required anymore. In general, v3 should be ready for **all** competitions, introducing harmony and transparency to the overall competition environment. @@ -99,83 +97,93 @@ On the other hand I want to avoid: ## General - + These rules apply for all official in-person RoboRacer competitions. The rules used in a competition are posted on the competition website along with a link to the specific version in the rules repository. -- Note that competition rules may be versioned differently, e.g., by having a changelog. -- _General rules should not change after announcing them. Competition rules may change even later._ -- _Note: It is better to remove / relax something. It should not ADD more constraints._ +With every competition instance, general rules are accompanied by competition rules. - +- Competition rules MAY alter general rules or introduce additional rules. + - In parts where both documents contradict, competition rules take preference. +- Note that competition rules MAY be versioned differently, e.g., by having a changelog. +- Organizers reserve the right to change the rules applied in the competition. + - Subsequent changes MUST be announced to all registered teams. -These rules are organized as follows: -... + - -Violating the rules may result into a team warning. Upon receiving three warnings, the team may be disqualified from the competition. Multiple disqualification and repeated misbehaviour may result into a ban, i.e., unability to attend future competitions. + -- Note that warnings are induced on whole teams not individuals. +Violating the rules MAY result into a team warning. Upon receiving three warnings, the team MAY be disqualified from the competition. Multiple disqualification and repeated misbehaviour MAY result into a ban, i.e., unability to attend future competitions. +- Note that warnings are induced on whole teams not individuals. Ultimately, organizers reserve the right to have a final say when interpreting the rules. - This also applies for, e.g., assigning a blame in the case of vehicle collision in Head-to-Head. +These rules are organized as follows: -## Competition rules - -With every competition instance, general rules are accompanied by competition rules. - -- Competition rules may alter general rules or introduce additional rules. - - In parts where both documents contradict, competition rules take preference. - -- Organizers reserve the right to change the rules applied in the competition. - - Subsequent changes have to be announced to all registered teams. +- [Definitions](#definitions) +- [Vehicle specifications](#vehicle-specifications) +- [Track](#track) +- [Competition organization](#competition-organization) +- [Registration](#registration) +- [Eligibility checklist](#eligibility-checklist) +- [On-site registration](#on-site-registration) +- [Session](#session) +- [Practice](#practice) +- [Inspection](#inspection) +- [Qualification](#qualification) +- [Race](#race) +- [Time Trial](#time-trial) +- [Head-to-Head Race](#head-to-head-race) +- [Awards ceremony](#awards-ceremony) ## Definitions + -- Team: A unit of people attending the competition. +- Team: A group of people with a racing car interested in a competition. - Registered team: Team that registered to the competition using an official registration method, e.g., sending a registration form. - Approved team: Registered team that sent all required materials to the organizers before the deadline and passed all necessary checks. - Participating team: Approved team that successfully registered on-site. - Inspected team: Participating team that have at least one inspected car. - Qualified team: Inspected team that successfully finished the Qualification. -- Team Member: A member of the team. Each person can belong to only one team during the competition. - - Driver: A team member that is holding the remote controller in order to hit the kill-switch when necessary. -- Car: Vehicle used in the competition, assembled according to the Vehicle specification. Each team must have their own car. +- Team Member: A member of the team. Each person MUST belong to only one team during the competition. + - Driver: A team member that is holding the remote controller in order to hit the kill-switch when necessary. +- Car: Vehicle used in the competition, assembled according to the Vehicle specification. Each team MUST have their own car. - Inspected car: Car that successfully passed through the Inspection. - - Hardware list: List of components that the car is composed of along with their costs. All parts of the Vehicle specification must be addressed along with additional sensors. + - Hardware list: List of components that the car is composed of along with their costs. All parts of the Vehicle specification MUST be addressed along with additional sensors. - Kill-switch: A method to remotely and immediately stop the car. - Track: Delimited area used for racing. - - Track border: A barrier (3D or 2D) that delimits the driveable area. + - Track border: A barrier that delimits the driveable area. - Track section: Part of the track along its centerline spanning across the whole width. - - Starting line: ? - - Finish line: ? + - Starting line: Line (physical or virtual) on the ground that marks the starting position of a car. MAY be identical to Finish line. + - Finish line: Line (physical) on the ground that marks the end of the lap on the track. MAY be identical to Starting line. - Session: Block of specific competition part. - Slot: Time block reserved for a subset of teams. Single session usually contains multiple slots. - Heat: Single instance of n-teams racing on the track. A race can be composed on multiple heats. -- Touching: Moving an object by less than 5 cm. -- Crashing: Moving an object by 5 cm or more. When interacting with another car, crashing means significantly changing its expected trajectory. +- Touching: Moving an object by less than 5 cm. +- Crashing: Moving an object by at least 5 cm. When interacting with another car, crashing means significantly changing its expected trajectory. - Overtake: Act of bypassing opponent car by at least half of its length. -- Penalties: Penalties result into minor punishments for not adhering to the rules. +- Penalties: Minor punishments for not adhering to the rules. - Violations: Major infringements of the rules. - Warning: Issued for violating the rules. Three warnings may lead to disqualification from the competition. - Disqualification: Revoking the ability to attend the competition. -- Whistle: Sound signal to raise teams' attention. Used during the race to highlight important event. May be accompanied with flags. -- Flags: Visual signal to the teams. May be accompanied with whistles. When flags are used during the competition, their meaning is as follows: - - Checkered flag: A flag is raised if the team is on the last lap. The flag is dropped and then waved when the team finishes and wins the current round. - - Red flag: A flag is raised if a race-stopping car crash occurs. The flag is dropped after all cars are stopped, and the team representatives are allowed to approach the track. - - Yellow flag: A flag is raised if the team is warned for a rule violation. _This should be, e.g., slow speed section._ - - Black flag: A flag is raised if the team is disqualified. The flag is dropped after the disqualified team stops the car and leaves the track. The opponent is allowed to continue the race. - - Green flag: A flag is raised to signal that the race is safe to continue. The flag is dropped after the race resumes. +- Whistle: Sound signal to raise teams' attention. Used during the race to highlight important event. May be accompanied with flags. +- Flags: Visual signal to the teams. May be accompanied with whistles. When flags are used during the competition, their meaning is as follows: + - Checkered flag: A flag is raised if the team is on the last lap. The flag is dropped and then waved when the team finishes and wins the current heat. + - Red flag: A flag is raised if a race-stopping car crash occurs. The flag is dropped after all cars are stopped, and the team representatives are allowed to approach the track. + - Green flag: A flag is raised to signal that the race is safe to continue. The flag is dropped, and the race resumes. - Blue flag: A flag is raised during open testing to indicate that a team needs to let another team pass. + - Yellow flag: A flag is raised to indicate that the teams have to drive slowly. Yellow flags MAY be also placed on the track to define a slow-speed section. + - Black flag: A flag is raised if the team is disqualified. The flag is dropped after the disqualified team stops the car and leaves the track. The opponent is allowed to continue the race. ## Vehicle specifications + Each vehicle will be inspected during the competition whether it meets the specified criteria. In case the criteria are not met, the vehicle is not allowed to be used in the competition. @@ -184,16 +192,16 @@ Each vehicle will be inspected during the competition whether it meets the speci - Length: 568mm ± 10% - Height: ≤ 400mm - The size limit is induced on the fully equipped car, i.e., as used during the race. - - The height limit is "hard", i.e., it can't be violated at any moment, e.g., because of springs. + - The height limit MUST be obeyed at all times, e.g., it MUST NOT be violated because of springs. 2. Weight - - 5kg _TODO: Update this._ + - ≤ 5kg - The weight limit is induced on the fully equipped car, i.e., as used during the race. 3. Chassis - No additional limits. - - Recommended: Traxxas 1:10 (e.g., TRA74054, TRA6804R, TRA68086). + - Recommended: Traxxas 1:10 (e.g., TRA74054, TRA6804R, TRA68086) 3. Bumpers - Front bumper (at least 5 cm thickness) from a soft material is required. - - The bumper must be attached to the car in a way that it does not fall off at any time during the head-to-head race. + - The bumper must be attached to the car in a way that it does not fall off at any time. - Example: TRA7436 + TRA7437 + TRA7415X 4. Tires - No limits. @@ -202,11 +210,7 @@ Each vehicle will be inspected during the competition whether it meets the speci 4. Motor - Electric motors only. - Only a single motor can be used for operating the drivetrain. - - ... TODO: Add that Velineon is the upper limit (?) - - _Felix: If so, what is the limit? The non-existant torque parameters of the motor? The kV, can be, at best, interpreted as inverse proportional to the torque?; So: higher kV -> higher max RPM & lower torque; So limit: max. 4S with Velineon +/- 10% for torque (we should check what the hobbywing has for this)_ - - _J: You are completely right, but we should (kinda have to) address that. Sooner or later someone *wink wink* tries to drive with something more powerful._ - - _Felix: https://things-in-motion.blogspot.com/2018/12/how-to-estimate-torque-of-bldc-pmsm.html describes the relationship between torque, KV and current (might also be interesting for the control team...). Should we, if this is correct, use this for the limits?_ - - TODO: Add torque limits, Amp limits of motors. + - Torque: 0.237N·m (100A @ 3500RPM/V) ± 10% - Recommended: Velineon 3500 5. Battery - Up to **4S** for powering the motor. @@ -216,21 +220,21 @@ Each vehicle will be inspected during the competition whether it meets the speci - Recommended: VESC 5. Remote controller - No limits. - - It must have a kill-switch ability so the driver is able to stop the car immediately and remotely. + - It must have a kill-switch ability so the [Driver](#driver) is able to stop the car immediately and remotely. 6. Compute - - No limits, but all computation during the race has to be done onboard the vehicle. + - No limits, but all computation during the race MUST be done onboard the vehicle. - Recommended: NVIDIA Jetson Xavier, NVIDIA Jetson Orin, Intel NUC, etc. 7. LiDAR - Number of planes: Not limited - Detection range: Not limited - Scanning frequency: ≤ 40Hz - - Angular resolution: ≥ 0.125°s + - Angular resolution: ≥ 0.125° - Recommended: Hokuyo UST-30LX, Hokuyo UST-10LX, etc. 8. Camera - No limits. Monocameras and stereocameras are allowed. 9. External localization - GPS and similar indoor solutions are not allowed. - - Exception: Organizers. + - Exception: Organizers MAY used them. 10. Production cost - No limits. - **Starting from 2027 it will be limited to ~ 5000$.** (Current estimate.) @@ -243,20 +247,21 @@ Other sensors are not restricted, however they MUST be mentioned in the hardware ### Vehicle parameters -- You can't hinder the opponents from detecting your car, e.g., using materials/colors to adjust the car reflectivity. -- While on the track, the car MUST occupy a square-shaped space of size at least 12×12 cm at every horizontal plane between 10 to 30 cm above the ground. Usually, this is achieved by placing a 12x12x20cm box on top of the car at its back. +- You MUST NOT hinder the opponents from detecting your car, e.g., using materials/colors to adjust the car reflectivity. +- At all times, the car MUST occupy a square-shaped space of size at least 12×12 cm at every horizontal plane between 10 to 30 cm above the ground. Usually, this is achieved by placing a 12x12x20cm box on top of the car at its back. - The box should be made of LiDAR perceivable material (e.g., cardboard). - - As long as the object results in the desired LiDAR signature, the object can have any additional aeorodynamic shapes added like fins, wings, etc. - - The box maybe of any color as long as it is easily perceivable by the LiDARs of the other cars. + - As long as the object results in the desired LiDAR signature, the object can have any additional aerodynamic shapes added like fins, wings, etc. + - The box may be of any color as long as it is easily perceivable by the LiDARs of the other cars. - Tire chemicals (additives) that may leave residuals on the track surface are not allowed. - Cleaning liquids are allowed. _TODO: Need to clarify._ ## Track + Racing track is a delimited area used for racing. -The competition rules must specify: +The competition rules MUST specify: - Nature of the surface (flatness, reflectiveness, material). - Nature of the room (e.g., walls/windows, ceiling type). @@ -268,19 +273,19 @@ The competition rules must specify: ### General track notes -- The surface friction may naturally slightly differ across the track. +- The surface friction MAY naturally slightly differ across the track. - When the room is surrounded by windows or semi-transparent surfaces, it might result into incorrect sensor measurements. - When the track is delimited by a set of pipes (on top of each other) there might be gaps between them. - Due to the car tilting, the sensors might see over the track borders or see the floor. - When multiple tracks are present, their parameters, features and overall nature may differ. - - Current session may differ as well. In that case the organizers must clearly state the current session on each track. + - Current session may differ as well. In that case the organizers MUST clearly state the current session on each track. ### Track behaviour - The teams are obliged to be respectful with other users of the track. - Teams are encouraged to pay attention when moving around the track, especially more when, e.g., running or jumping. - - Teams are not allowed to obstructing other teams by any means (e.g., if specified, leaving a stationary car on the track outside of the designated area). + - Teams are not allowed to obstruct other teams by any means (e.g., if specified, leaving a stationary car on the track outside of the designated area). - Teams are not allowed to endanger other teams and cars by an inappropriate behaviour. - The teams should not intentionally run code that they expect will crash into the track boundaries. Overly aggressive testing may mess with the track layout. - While testing the car, the team should limit the amount of damage to the track to an absolute minimum. @@ -290,7 +295,7 @@ The competition rules must specify: - Exception is testing the car in very slow speeds. -### Track Features +### Track features A list of possible track features follow. Competition rules will specify, which of them (might) apply. @@ -306,7 +311,7 @@ Track contains parts that do not lead to the finish line. Track contains sections with defined speed limits. -- Driving with forbidden speed is considered as a ... _(which type of violation?)_ +- Driving with forbidden speed is considered as a ... _(which type of violation?)_ - During the race, the team has to stop the car and move it before the speed-restricted section. - The speed limit is defined in one of the following ways: - Area delimitation with special markings. @@ -319,7 +324,7 @@ Track contains sections with defined speed limits. Track contains sections that are marked as a pit lane. - When this track feature is used, stopping outside the pit lane is not allowed. - - Stopping outside of pit lane is considered as a ... _(which type of violation?)_ + - Stopping outside of pit lane is considered as a ... _(which type of violation?)_ - Teams are allowed to add cars to the track only at a pit lane area. - Teams are highly encouraged to do the car removal here as well, unless required by the current situation. @@ -333,31 +338,31 @@ Track borders are not closed, i.e., there are horizontal gaps in them. - Inside the gaps the track border is delimited by a tape on the ground (or any other marking technique). - Driving inside the gaps is not allowed. - - Crossing the track border is considered as a touch. - - Crossing the track border by parts of at least 3 wheels is considered as a crash. + - Crossing the track border is considered as a [touch](#touch). + - Crossing the track border by parts of at least 3 wheels is considered as a [crash](#crash). #### Intersections -_Note: Currently a placeholder._ +_Note: This won't be used for ICRA race._ -The track contains intersections, i.e., a track section where multiple driving directions are allowed. + #### Surface changes The track surface is deliberately altered in certain track sections. -- This change can both reduce or increase surface friction. -- When surface is changed, the track does not have to be entirely flat; a small height change may occur. +- This change can both reduce or increase the surface friction. +- On the edge of the surface change, the track does not have to be entirely flat; a small height change may occur. - This change is below a certain threshold to not pose a threat to the cars. - Competition rules must specify: - How the surface is altered. @@ -391,12 +396,15 @@ _Note: When using this track feature it can't prevent teams using single plane l The track contains banks, i.e., the track is elevated in the outer parts of turns. -- In this section the track is not flat. +- The track is not flat in this section. - Competition rules must specify: - - _Bank?_ + - Track width that is not banked next to the bank [m]. + - Minimum bank width [m]. + - Maximum bank elevation [%]. ## Competition organization + The competition is composed of: @@ -411,19 +419,21 @@ The competition is composed of: ## Registration + - Team interested in participating in the competition has to register using a official registration method. This method may have its deadline. - Registrations received after the deadline may not be accepted. - Registration is confirmed by the competition organizers after completing all required steps. These are, but not limited to: - Filling up the registration form. - - Submitting a video of the car autonomously driving. + - Submitting a video of your car driving autonomously. - Submitting a hardware list. - Hardware list will be made publicly available for other teams after the competition. - Not submitting in time may void the registration. - Registration not confirmed by the organizers is not deemed valid. -## Eligibility +## Eligibility checklist + _Note: I wanted to add something in between -- you are registered, but can you actually attend the competition?_ @@ -432,23 +442,24 @@ The team is eligible to attend the competition as long as: - Registration fee is paid. - Registration is confirmed by the organizers, i.e., the team is approved. - All required forms and materials are sent to the organizers by the given deadline. - - If applicable, the car does not differ from the submitted hardware list. + - The car does not differ from the submitted hardware list. - _Felix: This is part of the on-site registration/inspection, I'm not sure if we actually need this section... We could add it as a "Checklist" in general_ ## On-site registration + -Upon their arrival to the competition site, the teams must promptly register on-site in order to race. +Upon their arrival to the competition site, the teams MUST promptly register on-site in order to race. -- The teams have to register on-site in the given time frame. +- The teams MUST register on-site in the given time frame. - Exceptions are allowed as long as they are discussed with the organization team. - - If a team is late for the registration, it must inform the organizers (e.g., for flights with a tight deadline, they can send the flight number to the organizers and this is considered enough notice). + - If a team is late for the registration, it MUST inform the organizers (e.g., for flights with a tight deadline, they can send the flight number to the organizers and this is considered enough notice). - The on-site registration is composed of: - Confirmation of team details. - - Pre-registration of the cars used within the competition. This also includes associating the car with its hardware list if a part of the registration. - - Organizers may allow cars without the hardware list if they can approve all required components on the spot. + - Pre-registration of the car used within the competition. This also includes associating the car with its hardware list. + - Organizers MAY allow cars without the hardware list if they can approve all required components on the spot. - Upon completing the on-site registration the team is allowed to: @@ -456,39 +467,41 @@ Upon their arrival to the competition site, the teams must promptly register on- - Make use of the team designated area. - Sign in to the sessions. -- Not completing the on-site registration in time may result into a team disqualification from the competition. +- Not completing the on-site registration in time MAY result into a team disqualification from the competition. ## Session + Parts of the competitions are organized in so-called sessions. - The organizers will use following various notification systems during the sessions, such as (but not limited to). Competition rules specify which apply: - - Colored flags. - - Whistles. + - [Colored flags](#flags). + - [Whistles](#whistle). - The session/slot/heat timers are fixed to the time slot and no extensions are given. - Missing out a time slot does not give the team an additional slot. - Upon their mutual agreement, the teams are allowed to exchange the slots by informing the responsible organizers. - Opt-in session slots are designated on a first-come-first-serve (FCFS) basis. - - The teams register individually for a given time slot using a method announced by the organizers during on-site registraion. - - There may be a limit of time slots each team can register into. + - The teams register individually for a given time slot using a method announced by the organizers during on-site registration. + - There MAY be a limit of time slots each team can register into. - These slots are contained in, but not limited to: - Closed Practice - Inspection - Qualification - Time Trial -- Organizers must share timetables of other session slots early enough so the teams have time to prepare. +- Organizers MUST share timetables of other session slots early enough so the teams have time to prepare. ## Practice + Practice is a session for the teams to train and test their car directly on the track. -- Practice track should contain all track features used during the competition, but its layout may differ. - - When the layout differs, there must be another practice session before the actual race to allow the teams to map the track. +- Practice track SHOULD contain all track features used during the competition, but its layout may differ. + - When the layout differs, there MUST be another practice session before the actual race to allow the teams to map the track. ### Practice variants @@ -513,63 +526,58 @@ Practice session where the track is reserved for one team only. #### Mapping Practice -Practice session used for mapping the track. May be organized as any other practice variant with additional rules: +Practice session used for mapping the track. It MAY be organized as any other practice variant with additional rules: - Teams are not allowed to test their racing algorithms during this practice. -- A speed limit may be employed for this practice, especially when it is Shared. +- A speed limit MAY be employed for this practice, especially when it is Shared. + - Not adhering to the speed limit MAY result in a warning. ## Inspection + -The purpose of the Inspection is to check that the hardware of the autonomous cars meets the competition requirements and the cars are not dangerous for the environment, opponents, and people. +The purpose of the Inspection is to check that the hardware of the cars meets the competition requirements and the cars are not dangerous for the environment, opponents, and people. - The inspection of the vehicles is done in a dedicated time-frame. - The inspection is done by the race referees. -- The inspection has to be completed before the Qualification. - - Any significant changes to the cars hardware may void the inspection. +- The inspection MUST be completed before the Qualification. + - Any significant changes to the cars hardware MAY void the inspection. - Teams are advised to inform the organizers prior to these changes. - When a hardware list is submitted as a part of the registration, the car is checked to match these parameters. - - Organizers may also approve using cars that do not match their parameters. + - Organizers MAY also approve using cars that do not match their parameters. - Car that is not inspected is not allowed to be used in the competition. ## Qualification + -Qualification is a session testing the autonomous capabilities of the racing car. The goal is to complete a single lap without touching and crashing anything. Anything can be: - - - Track borders - - Obstacles - - Other cars +Qualification is a session testing the autonomous capabilities of the racing car. The goal is to complete a single lap without touching and crashing anything, such as, track borders, obstacles, or other cars. - Qualification is done with a single racing car on the track. - Other cars may be used as static/dynamic obstacles. - -- Only inspected car can be used in the Qualification. - - In case the team intends to use multiple cars during the competition, they have to qualify with all of them. - -- The car can qualify during a practice session. - -- The Qualification may be merged with Time Trial. +- Only inspected car can be used in the Qualification. +- The car MAY be qualified during a practice session. +- The Qualification MAY be merged with Time Trial. - In this case the obstacle avoidance capability has to be checked separately during a dedicated session, e.g., during Practice. - - There are no penalties. Touching and/or crashing results into another try. (Up to the time limit.) - - Teams may manually place the car to the starting line. - -- Organizers might add more slots based on the success rate of the teams. + - Teams MAY manually place the car to the starting line. +- Organizers MAY add more slots based on the success rate of the teams. ## Race + Main part of the competition is composed of race sessions in which the teams are scored. -- Teams must pass the Qualification to join the races. +- Teams MUST pass the Qualification to join the races. - The race starts in one of the following ways. Competition rules specify which are used. - **Manual**: Upon signalizing, the teams start their cars manually. - The signal can be one of many types, e.g., visual, audial. - **Automatic**: Starting signal is transmitted directly into the car. - - _Felix: You can copy that part from the corresponding section in the T2V module blog post (and read it again...)_ + - The signal denoted as "Go" is sent to start the race. - **Mixed**: Each competing team may select its starting method. + - Organizers SHOULD ensure that both signals are sent in such a way that there is no advantage of using one over the other. - The race start has one guaranteed signal: "Go". Competition rules may add other signals. - _Note: Use this as a "template" for automatic start up. Then merge it._ @@ -577,11 +585,11 @@ Main part of the competition is composed of race sessions in which the teams are - Countdowns between the signals may differ for every start. - The race is stopped (paused) by, e.g.: - - Raising a red flag. - - Raising a black flag. - - Using a whistle. + - Raising a [red flag](#red-flag). + - Raising a [black flag](#black-flag). + - Using a [whistle](#whistle). -- During the race, the driver has to hold the remote in a raised hand to be clear that the car is not manually controlled. +- During the race, the [Driver](#driver) has to hold the remote in a raised hand to be clear that the car is not manually controlled (so-called _Driver stance_). - Obstacles and opponents may be overtaken from both the right or the left side. @@ -591,36 +599,36 @@ Main part of the competition is composed of race sessions in which the teams are During a race certain mild accidents may happen. Following steps and penalties are applied. - Touching is not penalized. - - Excessive/repeated touching may be considered as a crash. + - Excessive/repeated touching MAY be considered as a crash. - Upon crashing into an obstacle/track border, the team has to: 1. Stop its car. - 2. Move the car (by hand or using the remove control) to the side of the track next to the latest position before crash. + 2. Move the car (by hand or using the remote control) to the side of the track next to the latest position before crash. 3. Repair the track and/or place the obstacles to their appropriate positions. 4. Wait for the clearance from the organizers. 5. Start the car and continue the race. -- During all of this, the opponent’s car must not be restricted by the team’s actions and the opponent is allowed to further race without stopping its car. + - During all of this, the opponent’s car must not be restricted by the team’s actions and the opponent is allowed to further race without stopping its car. - Upon crashing into the opponent (e.g., one of the cars significantly diverges from its expected trajectory): - 1. Referees call the crash and pause the race, teams have to stop their cars. + 1. Referees call the crash and pause the race; the teams have to stop their cars. 2. Referees judge which car is at fault. - 3. Both cars are placed at the location of the crash, with the at-fault car placed behind the other car by 2 meters. + 3. Both cars are placed at the location of the crash, with the at-fault car placed behind the other car by 2 meters (direct distance between the cars). - If the team that was crashed into is able to autonomously detect and recover from the crash by stopping on the side of the track, that team is granted an extra head-start of 1 meter before resuming the race (i.e., the at-fault car is placed 3 meters behind the other car). 4. The referees resumes the race. ### Race violations -Violations are major rule infringements that may result into warnings. Severe offenses may even lead to disqualification from the competition. +Violations are major rule infringements that MAY result into warnings. Severe offenses MAY even lead to disqualification from the competition. - A crash is not considered a warning unless judged by the referees. - Crashes that result in a warning include but are not limited to "malicious" crashes where the autonomous car did not attempt to slow down or steer away from the opponent. - Under special circumstances, the referees may decide to give a warning to a team with the option of stopping the race to address the issue. The team has a maximum of 5 minutes to fix the issue and resume the race. - This does not apply for double-elimination. -- The algorithms must not intentionally hinder the opponent or perform any damage to it. Specifically, maneuvers such as deliberate crowding of a car beyond the edge of the track or any other abnormal change of direction are strictly prohibited. - - Violating this rule may lead to disqualification regardless the amount of warnings issued. +- The algorithms MUST NOT intentionally hinder the opponent or perform any damage to it. Specifically, maneuvers such as deliberate crowding of a car beyond the edge of the track or any other abnormal change of direction are strictly prohibited. + - Violating this rule MAY lead to disqualification regardless the amount of warnings issued. - Teams are allowed to report other teams' violations. - If the reported team is found guilty, it receives a warning; otherwise it goes to the reporting team. @@ -630,21 +638,22 @@ Violations are major rule infringements that may result into warnings. Severe of ## Time Trial + -_Note: Competition rules should specify: #heats, time per heat; e.g. 2x5 minutes._ + Time Trial is a race with a goal to drive through the designated track as fast as possible and as consistently as possible. The idea is to push the algorithms to their limits. -- Each team must pass the Qualification to be able to participate in the Time Trial. +- Each team MUST pass the Qualification to be able to participate in the Time Trial. - Time Trial is used as a seeding technique for the Head-to-Head Race. - This does not apply if Head-to-Head does not require seeding. - The race consists of multiple heats, two by default. Each heat lasts for a given time (e.g., 5 minutes), and the goal is to drive a single lap in as short time as possible and to drive as many complete laps as possible. Crashing and stopping the car does not pause the heat timer. -- The teams are allowed to change the configuration of their algorithms in between the heats, and even during the heat. When the configuration is changed during the heat, the car must stand still. In other words, the teams cannot update the configuration on-line while the car moves. +- The teams are allowed to change the configuration of their algorithms in between the heats, and even during the heat. When the configuration is being changed during the heat, the car MUST stand still. In other words, the teams cannot update the configuration on-line while the car moves. -- The map (track layout) is known a priori (from a practice before) and the track layout does not change during the race. Keep in mind that cars crash into the walls and the layout of the track might slightly shift a little bit. Please consider this in your algorithms. +- The map (track layout) is known a priori (from a practice before) and the track layout does not change during the race. Keep in mind that cars crash into the walls and the layout of the track might slightly shift over time. Please consider this in your algorithms. ### Evaluation @@ -655,7 +664,7 @@ Time Trial is a race with a goal to drive through the designated track as fast a - Lap time is measured between two subsequent finish line crossings. - It will be measured with a time-keeping system provided by the organizers. - Consecutive uninterrupted laps. - - A (1) uninterrupted lap is counted if and only if in-between the last two finish line crossings the car was not stopped. + - A (1) uninterrupted lap is counted if and only if in-between the last two finish line crossings the car was not stopped. - Evaluation is performed in multiple categories, each one resulting in its result table. @@ -677,30 +686,34 @@ Time Trial is a race with a goal to drive through the designated track as fast a ## Head-to-Head Race + -_Competition rules have to specify: Timeslot, competition type, ..._ + -_Outline: What?, General overview, starting position, race start, race rules, penalities, etc._ + Head-to-Head race is a race with multiple cars on the track at the same time. The idea is to drive as fast as possible while not crashing into the track and/or opponent. -- During one head-to-head race two teams race against each other. +- During one Head-to-Head race two teams race against each other. - The initial placement of the competing cars in one of the following ways. Competition rules specify which are used. - **Side-by-Side**: Both competing cars start on the same starting line. - - The teams will start side-by-side seperated by one car width (30cm) from each other. - - **Grid** + - The teams will start side-by-side approximately 30cm apart. + - **Staggered Grid**: Competing cars start in a staggered grid. + - First starting position is placed in front of the starting line, closer to the side that should be more beneficial. + - Second starting position is placed 30cm to the other side, 80cm behind. + - In case more cars are present, their placing follow the "zig-zag" pattern. -- In the first round, the team that ranked higher in Time Trial chooses the starting position. In case of more rounds: - - In the second round, the teams switch sides. - - Should a third round be necessary, a coin flip will determine the starting position. The team that ranked higher in Time Trial will call the coin flip (i.e., heads or tails). The team that wins the coin flip chooses the starting position. +- In the first heat, the team that ranked higher in Time Trial chooses the starting position. In case of more heats: + - In the second heat, the teams switch sides. + - Should a third heat be necessary, a coin flip will determine the starting position. The team that ranked higher in Time Trial will call the coin flip (i.e., heads or tails). The team that wins the coin flip chooses the starting position. - As opposed to Time Trial, no reconfiguration is allowed during the race. ### Tournament types -Below a list of possible tournament types follows. Competition rules specify, which are used. +Below a list of possible tournament types follows. Competition rules specify, which are used. #### All-vs-all @@ -708,14 +721,31 @@ Every team races with every other team. - The final ranking is determined by the amount of wins. -_Note: This won't be probably ever used for a competition, but mostly for a small scale events._ + + + + +#### Single Elimination -_Another note: It is slightly better to do every race twice._ +The tournament is organized as a Single Elimination in a series of rounds. +- The bracket is seeded using the results of Time Trial. + - Bracket should be designed properly, e.g., it should ensure balancing in the teams racing against each other. -#### Single Elimination Bracket +- Each race consists of up to three heats. + - Team that loses the race is eliminated from the tournament. -#### Double Elimination Bracket +#### Double Elimination + +The tournament is organized as a Double Elimination in a series of rounds. + +- There are two brackets, winners' and losers'. +- The winners' bracket is seeded using the results of Time Trial. + - Similarly to Single Elimination, the bracket should be designed properly, e.g., it should ensure balancing in the teams racing against each other. +- Each race consists of a single heat. + - Team that loses a race for its first time is moved to the losers' bracket. + - Team that loses in the losers' bracket is eliminated from the tournament. + - In case that a team loses for its first time in the Final Round, an additional heat is provided. ### Competition model @@ -729,10 +759,7 @@ All teams are racing in the same cup. #### Single Cup + Final Four -All teams are racing in the same cup using double elimination bracket, but the finals (with the top four teams) are performed using single elimination bracket. - -- The double-elimination tournament with two brackets is seeded by results of the Time Trial. -- The two winners of each bracket will qualify to compete in the Final Four race. This final tournament will feature a single elimination bracket. +All teams are racing in the same cup using Double Elimination, but the finals (with the top four teams) are performed using Single Elimination. #### Double Cup (Classic Cup, Master Cup) @@ -744,7 +771,7 @@ Admission to Master Cup (with respect to the seeding) is done as follows: - Master Cup may contain up to the half of the team roster. - First 4 teams automatically proceed. - Up to the first half, all teams have an opportunity to either join or not. -- The rest of the master cup teams may be filled by teams that placed top 3 in the last 3 years (1100 days). +- The organizers MAY allow to fill the rest of the Master Cup by teams that placed top 3 in the last 3 years (1100 days). If the racing track is changed for the Master Cup, the teams are given an extra practice session to test their car and algorithms on the new track. @@ -758,13 +785,14 @@ If the racing track is changed for the Master Cup, the teams are given an extra - The first car that completes given amount of laps wins. - In case that this objective is not achieved by any car, the amount of completed laps along with the achieved progress on the track is the decisive factor. -_TODO: List other tiebreaker factors, e.g., overtakes, crashes._ + ## Awards ceremony + The competition concludes with the Awards ceremony. The ceremony may be accompanied by a workshop session. - During the workshop session, top 4 teams from each cup are encouraged to briefly talk about their approach. - - In case a team cannot attend the workshop, they may send a small presentation instead. + - In case a team cannot attend the workshop, they may send a short presentation instead. - The presentations are shared after the competition on the competition website. From bf1af8336e1b1eb93a34bbb7567b5b424c70a7a5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Thu, 8 Jan 2026 17:36:52 +0100 Subject: [PATCH 07/23] Update the draft according to Felix's comments --- rules_v3.md | 32 ++++++++++++++------------------ 1 file changed, 14 insertions(+), 18 deletions(-) diff --git a/rules_v3.md b/rules_v3.md index fb85a2e..bb56037 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -152,7 +152,8 @@ These rules are organized as follows: - Inspected team: Participating team that have at least one inspected car. - Qualified team: Inspected team that successfully finished the Qualification. - Team Member: A member of the team. Each person MUST belong to only one team during the competition. - - Driver: A team member that is holding the remote controller in order to hit the kill-switch when necessary. + - Captain: A team member that represents the team and is used as a contact person by the competition organizers. Teams choose their captain during the on-site registration for the duration of the competition. + - Operator: A team member that is holding the remote controller in order to hit the kill-switch when necessary. - Car: Vehicle used in the competition, assembled according to the Vehicle specification. Each team MUST have their own car. - Inspected car: Car that successfully passed through the Inspection. - Hardware list: List of components that the car is composed of along with their costs. All parts of the Vehicle specification MUST be addressed along with additional sensors. @@ -176,7 +177,7 @@ These rules are organized as follows: - Flags: Visual signal to the teams. May be accompanied with whistles. When flags are used during the competition, their meaning is as follows: - Checkered flag: A flag is raised if the team is on the last lap. The flag is dropped and then waved when the team finishes and wins the current heat. - Red flag: A flag is raised if a race-stopping car crash occurs. The flag is dropped after all cars are stopped, and the team representatives are allowed to approach the track. - - Green flag: A flag is raised to signal that the race is safe to continue. The flag is dropped, and the race resumes. + - Green flag: A flag is raised to signal that the race is safe to continue for the stopped cars. The flag is dropped, and the race resumes. - Blue flag: A flag is raised during open testing to indicate that a team needs to let another team pass. - Yellow flag: A flag is raised to indicate that the teams have to drive slowly. Yellow flags MAY be also placed on the track to define a slow-speed section. - Black flag: A flag is raised if the team is disqualified. The flag is dropped after the disqualified team stops the car and leaves the track. The opponent is allowed to continue the race. @@ -220,7 +221,7 @@ Each vehicle will be inspected during the competition whether it meets the speci - Recommended: VESC 5. Remote controller - No limits. - - It must have a kill-switch ability so the [Driver](#driver) is able to stop the car immediately and remotely. + - It must have a kill-switch ability so the [Operator](#operator) is able to stop the car immediately and remotely. 6. Compute - No limits, but all computation during the race MUST be done onboard the vehicle. - Recommended: NVIDIA Jetson Xavier, NVIDIA Jetson Orin, Intel NUC, etc. @@ -252,9 +253,9 @@ Other sensors are not restricted, however they MUST be mentioned in the hardware - The box should be made of LiDAR perceivable material (e.g., cardboard). - As long as the object results in the desired LiDAR signature, the object can have any additional aerodynamic shapes added like fins, wings, etc. - The box may be of any color as long as it is easily perceivable by the LiDARs of the other cars. -- Tire chemicals (additives) that may leave residuals on the track surface are not allowed. - - Cleaning liquids are allowed. _TODO: Need to clarify._ - +- Tire modifications that may leave residuals on the track surface are not allowed. + - Forbidden modifications are, e.g., cleaning using soaps, or sanding the tires. + - Volatile chemicals (e.g., alcohol-based cleaning liquids) are allowed. ## Track @@ -286,13 +287,11 @@ The competition rules MUST specify: - The teams are obliged to be respectful with other users of the track. - Teams are encouraged to pay attention when moving around the track, especially more when, e.g., running or jumping. - Teams are not allowed to obstruct other teams by any means (e.g., if specified, leaving a stationary car on the track outside of the designated area). - - Teams are not allowed to endanger other teams and cars by an inappropriate behaviour. + - Teams are not allowed to endanger other teams, cars and especially spectators and by-goers by an inappropriate behaviour. - The teams should not intentionally run code that they expect will crash into the track boundaries. Overly aggressive testing may mess with the track layout. - While testing the car, the team should limit the amount of damage to the track to an absolute minimum. -- Whenever using the track, there has to be at least one team member that keeps an eye on the car and is prepared to activate the kill-switch. +- Whenever using the track, there has to be at least one team member ([Operator](#operator)) that keeps an eye on the car and is prepared to activate the kill-switch. - Teams that are not taking part in the session should avoid the track at all times. -- Driving outside of the track is generally not allowed. - - Exception is testing the car in very slow speeds. ### Track features @@ -323,7 +322,7 @@ Track contains sections with defined speed limits. Track contains sections that are marked as a pit lane. -- When this track feature is used, stopping outside the pit lane is not allowed. +- When this track feature is used, deliberate stopping outside the pit lane is not allowed. - Stopping outside of pit lane is considered as a ... _(which type of violation?)_ - Teams are allowed to add cars to the track only at a pit lane area. - Teams are highly encouraged to do the car removal here as well, unless required by the current situation. @@ -435,15 +434,12 @@ The competition is composed of: ## Eligibility checklist -_Note: I wanted to add something in between -- you are registered, but can you actually attend the competition?_ - The team is eligible to attend the competition as long as: - Registration fee is paid. - Registration is confirmed by the organizers, i.e., the team is approved. - All required forms and materials are sent to the organizers by the given deadline. - The car does not differ from the submitted hardware list. -- _Felix: This is part of the on-site registration/inspection, I'm not sure if we actually need this section... We could add it as a "Checklist" in general_ ## On-site registration @@ -589,7 +585,7 @@ Main part of the competition is composed of race sessions in which the teams are - Raising a [black flag](#black-flag). - Using a [whistle](#whistle). -- During the race, the [Driver](#driver) has to hold the remote in a raised hand to be clear that the car is not manually controlled (so-called _Driver stance_). +- During the race, the [Operator](#operator) has to hold the remote in a raised hand to be clear that the car is not manually controlled (so-called _Operator/Driver stance_). - Obstacles and opponents may be overtaken from both the right or the left side. @@ -605,7 +601,7 @@ During a race certain mild accidents may happen. Following steps and penalties a 1. Stop its car. 2. Move the car (by hand or using the remote control) to the side of the track next to the latest position before crash. 3. Repair the track and/or place the obstacles to their appropriate positions. - 4. Wait for the clearance from the organizers. + 4. Wait for the clearance from the organizers (using, e.g. [a green flag](#green-flag)). 5. Start the car and continue the race. - During all of this, the opponent’s car must not be restricted by the team’s actions and the opponent is allowed to further race without stopping its car. @@ -793,6 +789,6 @@ If the racing track is changed for the Master Cup, the teams are given an extra The competition concludes with the Awards ceremony. The ceremony may be accompanied by a workshop session. -- During the workshop session, top 4 teams from each cup are encouraged to briefly talk about their approach. - - In case a team cannot attend the workshop, they may send a short presentation instead. +- During the workshop session, top 4 teams from each cup are obliged to briefly talk about their approach. + - In case a team cannot attend the workshop, they may send a short video presentation instead. - The presentations are shared after the competition on the competition website. From be1b165581ba057171cda0b959e6ab662c649c50 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Thu, 8 Jan 2026 18:47:01 +0100 Subject: [PATCH 08/23] Update the draft based on the discussion --- rules_v3.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rules_v3.md b/rules_v3.md index bb56037..62e5364 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -173,7 +173,7 @@ These rules are organized as follows: - Violations: Major infringements of the rules. - Warning: Issued for violating the rules. Three warnings may lead to disqualification from the competition. - Disqualification: Revoking the ability to attend the competition. -- Whistle: Sound signal to raise teams' attention. Used during the race to highlight important event. May be accompanied with flags. +- Whistle: Sound signal (e.g., whistle, buzzer) to raise teams' attention. Used during the race to highlight important event. May be accompanied with flags. - Flags: Visual signal to the teams. May be accompanied with whistles. When flags are used during the competition, their meaning is as follows: - Checkered flag: A flag is raised if the team is on the last lap. The flag is dropped and then waved when the team finishes and wins the current heat. - Red flag: A flag is raised if a race-stopping car crash occurs. The flag is dropped after all cars are stopped, and the team representatives are allowed to approach the track. From 10cac5fd537a1ac7bc28c32f7fd386ee4f106963 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Sat, 10 Jan 2026 13:49:04 +0100 Subject: [PATCH 09/23] Update the draft based on the latest comments --- rules_v3.md | 58 ++++++++++++++++++++++++++++++++++++++--------------- 1 file changed, 42 insertions(+), 16 deletions(-) diff --git a/rules_v3.md b/rules_v3.md index 62e5364..26ffb72 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -153,11 +153,12 @@ These rules are organized as follows: - Qualified team: Inspected team that successfully finished the Qualification. - Team Member: A member of the team. Each person MUST belong to only one team during the competition. - Captain: A team member that represents the team and is used as a contact person by the competition organizers. Teams choose their captain during the on-site registration for the duration of the competition. - - Operator: A team member that is holding the remote controller in order to hit the kill-switch when necessary. + - Operator: A team member that is holding the remote controller in order to hit the [kill-switch](#kill-switch) when necessary. + - Operator stance: A stance in which the Operator holds the remote in a raised hand. Changing into this stance also signals that the team is ready for a race. - Car: Vehicle used in the competition, assembled according to the Vehicle specification. Each team MUST have their own car. - Inspected car: Car that successfully passed through the Inspection. - Hardware list: List of components that the car is composed of along with their costs. All parts of the Vehicle specification MUST be addressed along with additional sensors. - - Kill-switch: A method to remotely and immediately stop the car. + - Kill-switch: A method to remotely and immediately stop the car. - Track: Delimited area used for racing. - Track border: A barrier that delimits the driveable area. - Track section: Part of the track along its centerline spanning across the whole width. @@ -177,10 +178,12 @@ These rules are organized as follows: - Flags: Visual signal to the teams. May be accompanied with whistles. When flags are used during the competition, their meaning is as follows: - Checkered flag: A flag is raised if the team is on the last lap. The flag is dropped and then waved when the team finishes and wins the current heat. - Red flag: A flag is raised if a race-stopping car crash occurs. The flag is dropped after all cars are stopped, and the team representatives are allowed to approach the track. - - Green flag: A flag is raised to signal that the race is safe to continue for the stopped cars. The flag is dropped, and the race resumes. + - Green flag: A flag is raised to signal that the race is safe to continue for the stopped cars. After the teams confirm their readiness (using [Operator stance](#operator-stance)), the flag is dropped, allowing the stopped cars to resume the race. - Blue flag: A flag is raised during open testing to indicate that a team needs to let another team pass. - - Yellow flag: A flag is raised to indicate that the teams have to drive slowly. Yellow flags MAY be also placed on the track to define a slow-speed section. + - Yellow flag: A flag is raised to indicate that the teams have to drive slowly, because of, e.g., hazard on the track. Yellow flags MAY be also placed on the track to define a slow-speed section. + - Black-and-White flag: A flag is raised if the team is warned for a rule violation. - Black flag: A flag is raised if the team is disqualified. The flag is dropped after the disqualified team stops the car and leaves the track. The opponent is allowed to continue the race. + - _Note: Flags MAY be pointed at the [Operator](#operator) to signalize that it their effect applies only for that team. This is used, e.g., when only a single set of flags is available._ ## Vehicle specifications @@ -211,8 +214,9 @@ Each vehicle will be inspected during the competition whether it meets the speci 4. Motor - Electric motors only. - Only a single motor can be used for operating the drivetrain. - - Torque: 0.237N·m (100A @ 3500RPM/V) ± 10% - - Recommended: Velineon 3500 + - Torque limit: 0.237N·m (100A @ 3500RPM/V) ± 10% + - Recommended: Velineon 3500 + - Other methods for providing motion to the whole car (such as propellers) are not allowed. 5. Battery - Up to **4S** for powering the motor. - Additional batteries for powering other components are not limited. @@ -221,7 +225,7 @@ Each vehicle will be inspected during the competition whether it meets the speci - Recommended: VESC 5. Remote controller - No limits. - - It must have a kill-switch ability so the [Operator](#operator) is able to stop the car immediately and remotely. + - It must have a [kill-switch](#kill-switch) ability so the [Operator](#operator) is able to stop the car immediately and remotely. 6. Compute - No limits, but all computation during the race MUST be done onboard the vehicle. - Recommended: NVIDIA Jetson Xavier, NVIDIA Jetson Orin, Intel NUC, etc. @@ -253,14 +257,23 @@ Other sensors are not restricted, however they MUST be mentioned in the hardware - The box should be made of LiDAR perceivable material (e.g., cardboard). - As long as the object results in the desired LiDAR signature, the object can have any additional aerodynamic shapes added like fins, wings, etc. - The box may be of any color as long as it is easily perceivable by the LiDARs of the other cars. -- Tire modifications that may leave residuals on the track surface are not allowed. - - Forbidden modifications are, e.g., cleaning using soaps, or sanding the tires. +- Tire cleaning is permitted as long as the solution used does not leave any residuals on the track after cleanup. + - The following methods are prohibited: + - Cleaning using soaps. + - Volatile chemicals (e.g., alcohol-based cleaning liquids) are allowed. + - The team is responsible for ensuring that the tires are completely dry and do not leak any solution after squeezing. +- Tire modifications are generally prohibited. These are, for example: + - Sanding the tires. + - Using traction compounds or "sauces". +- All vehicle components MUST be either commercially available or manufactured by the team. + - Custom parts MAY be manufactured by a company however the team needs to own all required source files. + ## Track -Racing track is a delimited area used for racing. +Racing track is a delimited area used for racing. Organizers are responsible for marking down the track layout and fixing it throughout the competition. The competition rules MUST specify: @@ -285,12 +298,15 @@ The competition rules MUST specify: ### Track behaviour - The teams are obliged to be respectful with other users of the track. - - Teams are encouraged to pay attention when moving around the track, especially more when, e.g., running or jumping. + - Teams MUST pay attention when moving around the track, especially more when, e.g., running or jumping. + - In case of a human-car interaction, the person inside the track is always at fault. - Teams are not allowed to obstruct other teams by any means (e.g., if specified, leaving a stationary car on the track outside of the designated area). - Teams are not allowed to endanger other teams, cars and especially spectators and by-goers by an inappropriate behaviour. -- The teams should not intentionally run code that they expect will crash into the track boundaries. Overly aggressive testing may mess with the track layout. -- While testing the car, the team should limit the amount of damage to the track to an absolute minimum. -- Whenever using the track, there has to be at least one team member ([Operator](#operator)) that keeps an eye on the car and is prepared to activate the kill-switch. +- While using the track: + - Teams SHOULD NOT intentionally run code that they expect will crash into the track boundaries. Overly aggressive testing may mess with the track layout. + - Teams SHOULD limit the amount of damage to the track to an absolute minimum. + - Teams MUST have at least one team member ([Operator](#operator)) that keeps an eye on the car and is prepared to activate the [kill-switch](#kill-switch). + - Teams that are not taking part in the session should avoid the track at all times. @@ -585,7 +601,9 @@ Main part of the competition is composed of race sessions in which the teams are - Raising a [black flag](#black-flag). - Using a [whistle](#whistle). -- During the race, the [Operator](#operator) has to hold the remote in a raised hand to be clear that the car is not manually controlled (so-called _Operator/Driver stance_). +- During the race, the [Operator](#operator) MUST maintain [Operator stance](#operator-stance) to be clear that the car is not manually controlled. + - Changing into this stance is a signal for the competition organizers that the team is ready for a race. + - Lowering the remote and raising the other hand is a signal that the emergency stop was triggered. - Obstacles and opponents may be overtaken from both the right or the left side. @@ -621,11 +639,17 @@ Violations are major rule infringements that MAY result into warnings. Severe of - A crash is not considered a warning unless judged by the referees. - Crashes that result in a warning include but are not limited to "malicious" crashes where the autonomous car did not attempt to slow down or steer away from the opponent. - Under special circumstances, the referees may decide to give a warning to a team with the option of stopping the race to address the issue. The team has a maximum of 5 minutes to fix the issue and resume the race. - - This does not apply for double-elimination. + - This does not apply for [Double Elimination](#double-elimination). - The algorithms MUST NOT intentionally hinder the opponent or perform any damage to it. Specifically, maneuvers such as deliberate crowding of a car beyond the edge of the track or any other abnormal change of direction are strictly prohibited. - Violating this rule MAY lead to disqualification regardless the amount of warnings issued. +- During the race, the teams MUST NOT control the car manually. + - Triggering the emergency stop must stop the car completely. + - Manual control is allowed only after a crash, as specified in Race penalties. + - Switching to an autonomous mode MUST be done only after a clearance from the organizers (using, e.g. [a green flag](#green-flag)). + - Violating this rule MAY lead to disqualification regardless the amount of warnings issued. + - Teams are allowed to report other teams' violations. - If the reported team is found guilty, it receives a warning; otherwise it goes to the reporting team. @@ -648,6 +672,7 @@ Time Trial is a race with a goal to drive through the designated track as fast a - The race consists of multiple heats, two by default. Each heat lasts for a given time (e.g., 5 minutes), and the goal is to drive a single lap in as short time as possible and to drive as many complete laps as possible. Crashing and stopping the car does not pause the heat timer. - The teams are allowed to change the configuration of their algorithms in between the heats, and even during the heat. When the configuration is being changed during the heat, the car MUST stand still. In other words, the teams cannot update the configuration on-line while the car moves. + - In this case, the clearance for continuing the race is automatically given. - The map (track layout) is known a priori (from a practice before) and the track layout does not change during the race. Keep in mind that cars crash into the walls and the layout of the track might slightly shift over time. Please consider this in your algorithms. @@ -732,6 +757,7 @@ The tournament is organized as a Single Elimination in a series of rounds. - Team that loses the race is eliminated from the tournament. #### Double Elimination + The tournament is organized as a Double Elimination in a series of rounds. From 9f486b221fead590928619e5d7c711a7c5fc38b6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Thu, 15 Jan 2026 18:17:00 +0100 Subject: [PATCH 10/23] Small updates using part of comments from Andreas --- rules_v3.md | 29 +++++++++++++++++------------ 1 file changed, 17 insertions(+), 12 deletions(-) diff --git a/rules_v3.md b/rules_v3.md index 26ffb72..5728666 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -172,7 +172,7 @@ These rules are organized as follows: - Overtake: Act of bypassing opponent car by at least half of its length. - Penalties: Minor punishments for not adhering to the rules. - Violations: Major infringements of the rules. -- Warning: Issued for violating the rules. Three warnings may lead to disqualification from the competition. +- Warning: Issued for violating the rules. Three warnings MAY lead to disqualification from the competition. - Disqualification: Revoking the ability to attend the competition. - Whistle: Sound signal (e.g., whistle, buzzer) to raise teams' attention. Used during the race to highlight important event. May be accompanied with flags. - Flags: Visual signal to the teams. May be accompanied with whistles. When flags are used during the competition, their meaning is as follows: @@ -254,9 +254,9 @@ Other sensors are not restricted, however they MUST be mentioned in the hardware - You MUST NOT hinder the opponents from detecting your car, e.g., using materials/colors to adjust the car reflectivity. - At all times, the car MUST occupy a square-shaped space of size at least 12×12 cm at every horizontal plane between 10 to 30 cm above the ground. Usually, this is achieved by placing a 12x12x20cm box on top of the car at its back. - - The box should be made of LiDAR perceivable material (e.g., cardboard). + - The box MUST be made of LiDAR perceivable material (e.g., cardboard). - As long as the object results in the desired LiDAR signature, the object can have any additional aerodynamic shapes added like fins, wings, etc. - - The box may be of any color as long as it is easily perceivable by the LiDARs of the other cars. + - The box MAY have any color as long as it is easily perceivable by the LiDARs of the other cars. - Tire cleaning is permitted as long as the solution used does not leave any residuals on the track after cleanup. - The following methods are prohibited: - Cleaning using soaps. @@ -264,7 +264,7 @@ Other sensors are not restricted, however they MUST be mentioned in the hardware - Volatile chemicals (e.g., alcohol-based cleaning liquids) are allowed. - The team is responsible for ensuring that the tires are completely dry and do not leak any solution after squeezing. - Tire modifications are generally prohibited. These are, for example: - - Sanding the tires. + - Deliberately sanding the tires during the competition. - Using traction compounds or "sauces". - All vehicle components MUST be either commercially available or manufactured by the team. - Custom parts MAY be manufactured by a company however the team needs to own all required source files. @@ -282,17 +282,18 @@ The competition rules MUST specify: - Type of delimiters (e.g., air ducts, cardboard boxes). - Height of delimiters. - Maximum size (e.g., area) of the track. +- Minimum track width (minimum distance between the inner and outer border). - List of used track features. ### General track notes - The surface friction MAY naturally slightly differ across the track. -- When the room is surrounded by windows or semi-transparent surfaces, it might result into incorrect sensor measurements. +- When the room is surrounded by windows or semi-transparent surfaces, it might result in incorrect sensor measurements. - When the track is delimited by a set of pipes (on top of each other) there might be gaps between them. - Due to the car tilting, the sensors might see over the track borders or see the floor. -- When multiple tracks are present, their parameters, features and overall nature may differ. - - Current session may differ as well. In that case the organizers MUST clearly state the current session on each track. +- When multiple tracks are present, their parameters, features and overall nature MAY differ. + - The types of sessions MAY differ per track. The organizers MUST clearly indicate the type of session currently active for each track. ### Track behaviour @@ -349,17 +350,20 @@ Track contains sections that are marked as a pit lane. Track borders are not closed, i.e., there are horizontal gaps in them. - Gaps might be in the inner walls as well as in the outside walls. - - Inside the gaps the track border is delimited by a tape on the ground (or any other marking technique). + - If the tape width is not negligible, its inner edge is considered as border. - Driving inside the gaps is not allowed. - Crossing the track border is considered as a [touch](#touch). - Crossing the track border by parts of at least 3 wheels is considered as a [crash](#crash). +- Maximum gap width is lower than the minimum track width in the track section. + - _In other words, the open wall gap is always shorter than the track width._ + #### Intersections -_Note: This won't be used for ICRA race._ +_Note: This won't be used for ICRA 2026 race._ + - ≤ 5kg - The weight limit is induced on the fully equipped car, i.e., as used during the race. 3. Chassis - No additional limits. @@ -214,11 +214,12 @@ Each vehicle will be inspected during the competition whether it meets the speci 4. Motor - Electric motors only. - Only a single motor can be used for operating the drivetrain. - - Torque limit: 0.237N·m (100A @ 3500RPM/V) ± 10% + - Torque: ≤ 0.237N·m (100A @ 3500RPM/V) + 10% - Recommended: Velineon 3500 - Other methods for providing motion to the whole car (such as propellers) are not allowed. 5. Battery - - Up to **4S** for powering the motor. + - Up to **4S LiPo** for powering the motor. + - When using a battery with another cell chemistry, its performance MUST NOT exceed this. - Additional batteries for powering other components are not limited. 5. Electronic Speed Controllers - No limits. @@ -268,6 +269,10 @@ Other sensors are not restricted, however they MUST be mentioned in the hardware - Using traction compounds or "sauces". - All vehicle components MUST be either commercially available or manufactured by the team. - Custom parts MAY be manufactured by a company however the team needs to own all required source files. +- Additional requirements MAY be induced on the vehicles in the competition rules. These are, for example: + - Space for a sticker (e.g., competition sponsors, vehicle identification). + - Space for an active marker (e.g., external localization for organizers). + - Empty USB port (e.g., for powering up additional electronics). ## Track @@ -559,7 +564,7 @@ The purpose of the Inspection is to check that the hardware of the cars meets th - The inspection is done by the race referees. - The inspection MUST be completed before the Qualification. - Any significant changes to the cars hardware MAY void the inspection. - - Teams are advised to inform the organizers prior to these changes. + - Teams MUST inform the organizers about the any changes to an inspected car. - When a hardware list is submitted as a part of the registration, the car is checked to match these parameters. - Organizers MAY also approve using cars that do not match their parameters. - Car that is not inspected is not allowed to be used in the competition. @@ -732,9 +737,10 @@ Head-to-Head race is a race with multiple cars on the track at the same time. Th - In the first heat, the team that ranked higher in Time Trial chooses the starting position. In case of more heats: - In the second heat, the teams switch sides. - - Should a third heat be necessary, a coin flip will determine the starting position. The team that ranked higher in Time Trial will call the coin flip (i.e., heads or tails). The team that wins the coin flip chooses the starting position. + - Should a third heat be necessary, the team that ranked higher in Time Trial chooses the starting position again. + - _Note: In case both teams are tied in the Time Trial results, a random method (e.g., coin flip) is used to determine the starting positions._ -- As opposed to Time Trial, no reconfiguration is allowed during the race. +- Similarly to Time Trial, the car MUST be stopped to change its configuration. ### Tournament types @@ -820,6 +826,6 @@ If the racing track is changed for the Master Cup, the teams are given an extra The competition concludes with the Awards ceremony. The ceremony may be accompanied by a workshop session. -- During the workshop session, top 4 teams from each cup are obliged to briefly talk about their approach. +- During the workshop session, top 4 teams from each cup are obliged to present their approach. - In case a team cannot attend the workshop, they may send a short video presentation instead. - The presentations are shared after the competition on the competition website. From 913b785153f06b2c6744e1d08c50a8073fa14f55 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Sat, 17 Jan 2026 01:36:48 +0100 Subject: [PATCH 12/23] Small updates based on the discussion --- rules_v3.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/rules_v3.md b/rules_v3.md index 6d66389..cb97bef 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -346,8 +346,8 @@ Track contains sections that are marked as a pit lane. - When this track feature is used, deliberate stopping outside the pit lane is not allowed. - Stopping outside of pit lane is considered as a ... _(which type of violation?)_ -- Teams are allowed to add cars to the track only at a pit lane area. - - Teams are highly encouraged to do the car removal here as well, unless required by the current situation. +- Teams MUST add cars to the track only at a pit lane area. + - Teams SHOULD remove the car from the track here as well, unless required by the current situation. #### Open walls @@ -503,7 +503,7 @@ Parts of the competitions are organized in so-called sessions. - The session/slot/heat timers are fixed to the time slot and no extensions are given. - Missing out a time slot does not give the team an additional slot. - - Upon their mutual agreement, the teams are allowed to exchange the slots by informing the responsible organizers. + - Upon their mutual agreement, the teams are allowed to exchange the slots by informing the responsible organizers at least 10 minutes before the slot starts. - Opt-in session slots are designated on a first-come-first-serve (FCFS) basis. - The teams register individually for a given time slot using a method announced by the organizers during on-site registration. From 7c3091c03142c9442bf112cb310f7a4697e109bc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Tue, 20 Jan 2026 20:16:03 +0100 Subject: [PATCH 13/23] Add clarification for track splits --- rules_v3.md | 1 + 1 file changed, 1 insertion(+) diff --git a/rules_v3.md b/rules_v3.md index cb97bef..49d8620 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -401,6 +401,7 @@ The track contains track splits, i.e., the track section is split into multiple - Driving through the track may be performed by any of the paths. They are considered equal. - However, they might not be equal performance-wise, e.g., taking one of the paths might be more beneficial than the other. - Driving though only one of the paths is required for lap completion. + - It is allowed to switch between the paths in subsequent laps. - Competition rules have to specify: - Track width in the split section, in case it would differ from the general track width limit. From 9c790e3623331c04adf1e8204b2fcc6b8c37dca5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Tue, 20 Jan 2026 20:35:27 +0100 Subject: [PATCH 14/23] Update the draft --- rules_v3.md | 23 +++++++++++------------ 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/rules_v3.md b/rules_v3.md index 49d8620..001cb83 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -166,14 +166,15 @@ These rules are organized as follows: - Finish line: Line (physical) on the ground that marks the end of the lap on the track. MAY be identical to Starting line. - Session: Block of specific competition part. - Slot: Time block reserved for a subset of teams. Single session usually contains multiple slots. - - Heat: Single instance of n-teams racing on the track. A race can be composed on multiple heats. + - Heat: Single instance of n-teams racing on the track. A race can be composed of multiple heats. - Touching: Moving an object by less than 5 cm. - Crashing: Moving an object by at least 5 cm. When interacting with another car, crashing means significantly changing its expected trajectory. - Overtake: Act of bypassing opponent car by at least half of its length. -- Penalties: Minor punishments for not adhering to the rules. -- Violations: Major infringements of the rules. -- Warning: Issued for violating the rules. Three warnings MAY lead to disqualification from the competition. -- Disqualification: Revoking the ability to attend the competition. +- Offense: Minor or less serious infringement of the rules that MAY result into a penalty. Repeated offenses MAY be treated as a violation. + - Penalty: Punishment for offenses and violations. +- Violation: Major or severe infringement of the rules that MAY result into a penalty. Violation MAY result into warnings. + - Warning: Issued for violating the rules. Three warnings MAY lead to disqualification from the competition. + - Disqualification: Revoking the ability to attend the competition. - Whistle: Sound signal (e.g., whistle, buzzer) to raise teams' attention. Used during the race to highlight important event. May be accompanied with flags. - Flags: Visual signal to the teams. May be accompanied with whistles. When flags are used during the competition, their meaning is as follows: - Checkered flag: A flag is raised if the team is on the last lap. The flag is dropped and then waved when the team finishes and wins the current heat. @@ -332,8 +333,8 @@ Track contains parts that do not lead to the finish line. Track contains sections with defined speed limits. -- Driving with forbidden speed is considered as a ... _(which type of violation?)_ - - During the race, the team has to stop the car and move it before the speed-restricted section. +- Driving over the speed limit is not allowed. + - Upon exceeding the speed limit, the team has to stop the car and move it before the speed-restricted section. - The speed limit is defined in one of the following ways: - Area delimitation with special markings. - The competition rules have to specify: @@ -345,7 +346,7 @@ Track contains sections with defined speed limits. Track contains sections that are marked as a pit lane. - When this track feature is used, deliberate stopping outside the pit lane is not allowed. - - Stopping outside of pit lane is considered as a ... _(which type of violation?)_ + - Stopping outside of pit lane is considered as a minor offense. - Teams MUST add cars to the track only at a pit lane area. - Teams SHOULD remove the car from the track here as well, unless required by the current situation. @@ -645,7 +646,7 @@ During a race certain mild accidents may happen. Following steps and penalties a ### Race violations -Violations are major rule infringements that MAY result into warnings. Severe offenses MAY even lead to disqualification from the competition. +During a race, following incidents are considered as violations. - A crash is not considered a warning unless judged by the referees. - Crashes that result in a warning include but are not limited to "malicious" crashes where the autonomous car did not attempt to slow down or steer away from the opponent. @@ -722,8 +723,6 @@ Time Trial is a race with a goal to drive through the designated track as fast a - - Head-to-Head race is a race with multiple cars on the track at the same time. The idea is to drive as fast as possible while not crashing into the track and/or opponent. - During one Head-to-Head race two teams race against each other. @@ -766,7 +765,7 @@ The tournament is organized as a Single Elimination in a series of rounds. - Bracket should be designed properly, e.g., it should ensure balancing in the teams racing against each other. - Each race consists of up to three heats. - - Team that loses the race is eliminated from the tournament. + - Team that loses the race (by losing two heats) is eliminated from the tournament. #### Double Elimination From ba9bba5df07bc27587d12e29225ed1ab6eb57e4d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Wed, 28 Jan 2026 13:43:32 +0100 Subject: [PATCH 15/23] Language corrections --- rules_v3.md | 247 ++++++++++++++++++++++++++-------------------------- 1 file changed, 123 insertions(+), 124 deletions(-) diff --git a/rules_v3.md b/rules_v3.md index 001cb83..1e45669 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -65,15 +65,15 @@ h2, h3, h4, h5, h6 { --> ## Outline -The main concept is to go though v2 rules, and filter out those that are not required anymore. In general, v3 should be ready for **all** competitions, introducing harmony and transparency to the overall competition environment. +The main concept is to go through the v2 rules and filter out those that are not required anymore. In general, v3 should be ready for **all** competitions, introducing harmony and transparency to the overall competition environment. -Current idea is to provide a set of rules (also, general rules) and then, optionally, competition modifications (also, additional rules). +The current idea is to provide a set of rules (also, general rules) and then, optionally, competition modifications (also, additional rules). Even though the aim is to make the general rules shorter, it should give multiple options to host a competition; then, inside the additional rules, you specify which parts apply. -The final rules should be coherent and leave smaller window for possible mistakes, e.g., officially having an UK competition in Pennsylvania. +The final rules should be coherent and leave a smaller window for possible mistakes, e.g., officially having a UK competition in Pennsylvania. -Note: Parts of these rules are taken over from rules of past ~16 competitions. Credits go to the people creating those rules. (Even though they are mostly unknown.) +Note: Parts of these rules are taken over from the rules of past ~16 competitions. Credits go to the people creating those rules. (Even though they are mostly unknown.) In the rules, we should cover: @@ -87,11 +87,11 @@ In the rules, we should cover: - Timed Race - Head-to-Head Race -On the other hand I want to avoid: +On the other hand, I want to avoid: - Duplicit rules (e.g., parts about the box on the car). - Rules that are not used anymore (or not used at all). -- Change will/must into may in parts where the rules might not be applied because of the competition setting (e.g., small competitions have different need than big competitions). +- Change will/must into may in parts where the rules might not be applied because of the competition setting (e.g., small competitions have different needs than big competitions). --- @@ -99,7 +99,7 @@ On the other hand I want to avoid: -These rules apply for all official in-person RoboRacer competitions. +These rules apply to all official in-person RoboRacer competitions. The rules used in a competition are posted on the competition website along with a link to the specific version in the rules repository. @@ -115,13 +115,13 @@ With every competition instance, general rules are accompanied by competition ru -Violating the rules MAY result into a team warning. Upon receiving three warnings, the team MAY be disqualified from the competition. Multiple disqualification and repeated misbehaviour MAY result into a ban, i.e., unability to attend future competitions. +Violating the rules MAY result in a team warning. Upon receiving three warnings, the team MAY be disqualified from the competition. Multiple disqualifications and repeated misbehaviour MAY result in a ban, i.e., inability to attend future competitions. -- Note that warnings are induced on whole teams not individuals. +- Note that warnings are induced on whole teams, not individuals. Ultimately, organizers reserve the right to have a final say when interpreting the rules. -- This also applies for, e.g., assigning a blame in the case of vehicle collision in Head-to-Head. +- This also applies to, e.g., assigning blame in the case of a vehicle collision in Head-to-Head. These rules are organized as follows: @@ -146,66 +146,66 @@ These rules are organized as follows: - Team: A group of people with a racing car interested in a competition. - - Registered team: Team that registered to the competition using an official registration method, e.g., sending a registration form. + - Registered team: Team that registered for the competition using an official registration method, e.g., sending a registration form. - Approved team: Registered team that sent all required materials to the organizers before the deadline and passed all necessary checks. - Participating team: Approved team that successfully registered on-site. - - Inspected team: Participating team that have at least one inspected car. + - Inspected team: Participating team that has at least one inspected car. - Qualified team: Inspected team that successfully finished the Qualification. - Team Member: A member of the team. Each person MUST belong to only one team during the competition. - - Captain: A team member that represents the team and is used as a contact person by the competition organizers. Teams choose their captain during the on-site registration for the duration of the competition. - - Operator: A team member that is holding the remote controller in order to hit the [kill-switch](#kill-switch) when necessary. + - Captain: A team member who represents the team and is used as a contact person by the competition organizers. Teams choose their captain during the on-site registration for the duration of the competition. + - Operator: A team member who is holding the remote controller in order to hit the [kill-switch](#kill-switch) when necessary. - Operator stance: A stance in which the Operator holds the remote in a raised hand. Changing into this stance also signals that the team is ready for a race. -- Car: Vehicle used in the competition, assembled according to the Vehicle specification. Each team MUST have their own car. +- Car: Vehicle used in the competition, assembled according to the Vehicle specification. Each team MUST have its own car. - Inspected car: Car that successfully passed through the Inspection. - - Hardware list: List of components that the car is composed of along with their costs. All parts of the Vehicle specification MUST be addressed along with additional sensors. + - Hardware list: List of components that the car is composed of, along with their costs. All parts of the Vehicle specification MUST be addressed along with additional sensors. - Kill-switch: A method to remotely and immediately stop the car. - Track: Delimited area used for racing. - Track border: A barrier that delimits the driveable area. - Track section: Part of the track along its centerline spanning across the whole width. - - Starting line: Line (physical or virtual) on the ground that marks the starting position of a car. MAY be identical to Finish line. + - Starting line: Line (physical or virtual) on the ground that marks the starting position of a car. MAY be identical to the Finish line. - Finish line: Line (physical) on the ground that marks the end of the lap on the track. MAY be identical to Starting line. -- Session: Block of specific competition part. - - Slot: Time block reserved for a subset of teams. Single session usually contains multiple slots. +- Session: A block of a specific competition part. + - Slot: Time block reserved for a subset of teams. A single session usually contains multiple slots. - Heat: Single instance of n-teams racing on the track. A race can be composed of multiple heats. - Touching: Moving an object by less than 5 cm. - Crashing: Moving an object by at least 5 cm. When interacting with another car, crashing means significantly changing its expected trajectory. -- Overtake: Act of bypassing opponent car by at least half of its length. -- Offense: Minor or less serious infringement of the rules that MAY result into a penalty. Repeated offenses MAY be treated as a violation. +- Overtake: The act of bypassing an opponent's car by at least half of its length. +- Offense: Minor or less serious infringement of the rules that MAY result in a penalty. Repeated offenses MAY be treated as a violation. - Penalty: Punishment for offenses and violations. -- Violation: Major or severe infringement of the rules that MAY result into a penalty. Violation MAY result into warnings. +- Violation: Major or severe infringement of the rules that MAY result in a penalty. Violation MAY result in warnings. - Warning: Issued for violating the rules. Three warnings MAY lead to disqualification from the competition. - Disqualification: Revoking the ability to attend the competition. -- Whistle: Sound signal (e.g., whistle, buzzer) to raise teams' attention. Used during the race to highlight important event. May be accompanied with flags. +- Whistle: Sound signal (e.g., whistle, buzzer) to raise teams' attention. Used during the race to highlight an important event. May be accompanied with flags. - Flags: Visual signal to the teams. May be accompanied with whistles. When flags are used during the competition, their meaning is as follows: - Checkered flag: A flag is raised if the team is on the last lap. The flag is dropped and then waved when the team finishes and wins the current heat. - Red flag: A flag is raised if a race-stopping car crash occurs. The flag is dropped after all cars are stopped, and the team representatives are allowed to approach the track. - Green flag: A flag is raised to signal that the race is safe to continue for the stopped cars. After the teams confirm their readiness (using [Operator stance](#operator-stance)), the flag is dropped, allowing the stopped cars to resume the race. - Blue flag: A flag is raised during open testing to indicate that a team needs to let another team pass. - - Yellow flag: A flag is raised to indicate that the teams have to drive slowly, because of, e.g., hazard on the track. Yellow flags MAY be also placed on the track to define a slow-speed section. + - Yellow flag: A flag is raised to indicate that the teams have to drive slowly, because of, e.g., a hazard on the track. Yellow flags MAY also be placed on the track to define a slow-speed section. - Black-and-White flag: A flag is raised if the team is warned for a rule violation. - Black flag: A flag is raised if the team is disqualified. The flag is dropped after the disqualified team stops the car and leaves the track. The opponent is allowed to continue the race. - - _Note: Flags MAY be pointed at the [Operator](#operator) to signalize that it their effect applies only for that team. This is used, e.g., when only a single set of flags is available._ + - _Note: Flags MAY be pointed at the [Operator](#operator) to signalize that their effect applies only for that team. This is used, e.g., when only a single set of flags is available._ ## Vehicle specifications -Each vehicle will be inspected during the competition whether it meets the specified criteria. In case the criteria are not met, the vehicle is not allowed to be used in the competition. +Each vehicle will be inspected during the competition to determine whether it meets the specified criteria. In case the criteria are not met, the vehicle is not allowed to be used in the competition. 1. Size - Width: 296mm ± 10% - Length: 568mm ± 10% - Height: ≤ 400mm - - The size limit is induced on the fully equipped car, i.e., as used during the race. + - The size limit is imposed on the fully equipped car, i.e., as used during the race. - The height limit MUST be obeyed at all times, e.g., it MUST NOT be violated because of springs. 2. Weight - ≤ 5kg - - The weight limit is induced on the fully equipped car, i.e., as used during the race. + - The weight limit is imposed on the fully equipped car, i.e., as used during the race. 3. Chassis - No additional limits. - Recommended: Traxxas 1:10 (e.g., TRA74054, TRA6804R, TRA68086) 3. Bumpers - - Front bumper (at least 5 cm thickness) from a soft material is required. + - A front bumper (at least 5 cm thickness) from a soft material is required. - The bumper must be attached to the car in a way that it does not fall off at any time. - Example: TRA7436 + TRA7437 + TRA7415X 4. Tires @@ -214,7 +214,7 @@ Each vehicle will be inspected during the competition whether it meets the speci - No limits. Both 2WD and 4WD are allowed. 4. Motor - Electric motors only. - - Only a single motor can be used for operating the drivetrain. + - Only a single motor can be used to operate the drivetrain. - Torque: ≤ 0.237N·m (100A @ 3500RPM/V) + 10% - Recommended: Velineon 3500 - Other methods for providing motion to the whole car (such as propellers) are not allowed. @@ -241,23 +241,23 @@ Each vehicle will be inspected during the competition whether it meets the speci - No limits. Monocameras and stereocameras are allowed. 9. External localization - GPS and similar indoor solutions are not allowed. - - Exception: Organizers MAY used them. + - Exception: Organizers MAY use it. 10. Production cost - No limits. - - **Starting from 2027 it will be limited to ~ 5000$.** (Current estimate.) + - **Starting from 2027, it will be limited to ~ 5000$.** (Current estimate.) - Contains the price of all components + price estimation of custom parts. - The retail price must be free of any discounts. - Custom parts: The price estimate for a company to manufacture your source file. -Other sensors are not restricted, however they MUST be mentioned in the hardware list. +Other sensors are not restricted; however, they MUST be mentioned in the hardware list. ### Vehicle parameters - You MUST NOT hinder the opponents from detecting your car, e.g., using materials/colors to adjust the car reflectivity. -- At all times, the car MUST occupy a square-shaped space of size at least 12×12 cm at every horizontal plane between 10 to 30 cm above the ground. Usually, this is achieved by placing a 12x12x20cm box on top of the car at its back. +- At all times, the car MUST occupy a square-shaped space of size at least 12×12 cm at every horizontal plane between 10 and 30 cm above the ground. Usually, this is achieved by placing a 12x12x20cm box on top of the car at its back. - The box MUST be made of LiDAR perceivable material (e.g., cardboard). - - As long as the object results in the desired LiDAR signature, the object can have any additional aerodynamic shapes added like fins, wings, etc. + - As long as the object results in the desired LiDAR signature, the object can have any additional aerodynamic shapes added, like fins, wings, etc. - The box MAY have any color as long as it is easily perceivable by the LiDARs of the other cars. - Tire cleaning is permitted as long as the solution used does not leave any residuals on the track after cleanup. - The following methods are prohibited: @@ -269,7 +269,7 @@ Other sensors are not restricted, however they MUST be mentioned in the hardware - Deliberately sanding the tires during the competition. - Using traction compounds or "sauces". - All vehicle components MUST be either commercially available or manufactured by the team. - - Custom parts MAY be manufactured by a company however the team needs to own all required source files. + - Custom parts MAY be manufactured by a company; however, the team needs to own all required source files. - Additional requirements MAY be induced on the vehicles in the competition rules. These are, for example: - Space for a sticker (e.g., competition sponsors, vehicle identification). - Space for an active marker (e.g., external localization for organizers). @@ -296,19 +296,19 @@ The competition rules MUST specify: - The surface friction MAY naturally slightly differ across the track. - When the room is surrounded by windows or semi-transparent surfaces, it might result in incorrect sensor measurements. -- When the track is delimited by a set of pipes (on top of each other) there might be gaps between them. +- When the track is delimited by a set of pipes (on top of each other), there might be gaps between them. - Due to the car tilting, the sensors might see over the track borders or see the floor. -- When multiple tracks are present, their parameters, features and overall nature MAY differ. +- When multiple tracks are present, their parameters, features, and overall nature MAY differ. - The types of sessions MAY differ per track. The organizers MUST clearly indicate the type of session currently active for each track. ### Track behaviour -- The teams are obliged to be respectful with other users of the track. - - Teams MUST pay attention when moving around the track, especially more when, e.g., running or jumping. +- The teams are obliged to be respectful to other users of the track. + - Teams MUST pay attention when moving around the track, especially more so when, e.g., running or jumping. - In case of a human-car interaction, the person inside the track is always at fault. - Teams are not allowed to obstruct other teams by any means (e.g., if specified, leaving a stationary car on the track outside of the designated area). - - Teams are not allowed to endanger other teams, cars and especially spectators and by-goers by an inappropriate behaviour. + - Teams are not allowed to endanger other teams, cars, and especially spectators and by-goers by inappropriate behaviour. - While using the track: - Teams SHOULD NOT intentionally run code that they expect will crash into the track boundaries. Overly aggressive testing may mess with the track layout. - Teams SHOULD limit the amount of damage to the track to an absolute minimum. @@ -319,7 +319,7 @@ The competition rules MUST specify: ### Track features -A list of possible track features follow. Competition rules will specify, which of them (might) apply. +A list of possible track features follows. Competition rules will specify which of them (might) apply. #### Dead-ends @@ -346,7 +346,7 @@ Track contains sections with defined speed limits. Track contains sections that are marked as a pit lane. - When this track feature is used, deliberate stopping outside the pit lane is not allowed. - - Stopping outside of pit lane is considered as a minor offense. + - Stopping outside of the pit lane is considered a minor offense. - Teams MUST add cars to the track only at a pit lane area. - Teams SHOULD remove the car from the track here as well, unless required by the current situation. @@ -356,13 +356,13 @@ Track contains sections that are marked as a pit lane. Track borders are not closed, i.e., there are horizontal gaps in them. - Gaps might be in the inner walls as well as in the outside walls. -- Inside the gaps the track border is delimited by a tape on the ground (or any other marking technique). - - If the tape width is not negligible, its inner edge is considered as border. +- Inside the gaps, the track border is delimited by a tape on the ground (or any other marking technique). + - If the tape width is not negligible, its inner edge is considered as the border. - Driving inside the gaps is not allowed. - - Crossing the track border is considered as a [touch](#touch). - - Crossing the track border by parts of at least 3 wheels is considered as a [crash](#crash). -- Maximum gap width is lower than the minimum track width in the track section. + - Crossing the track border is considered a [touch](#touch). + - Crossing the track border by parts of at least 3 wheels is considered a [crash](#crash). +- The maximum gap width is lower than the minimum track width in the track section. - _In other words, the open wall gap is always shorter than the track width._ @@ -401,7 +401,7 @@ The track contains track splits, i.e., the track section is split into multiple - Driving through the track may be performed by any of the paths. They are considered equal. - However, they might not be equal performance-wise, e.g., taking one of the paths might be more beneficial than the other. -- Driving though only one of the paths is required for lap completion. +- Driving through only one of the paths is required for lap completion. - It is allowed to switch between the paths in subsequent laps. - Competition rules have to specify: - Track width in the split section, in case it would differ from the general track width limit. @@ -411,11 +411,11 @@ The track contains track splits, i.e., the track section is split into multiple The track contains a sloped section, e.g., a bridge. -- In this section the track is generally not flat. +- In this section, the track is generally not flat. - Competition rules must specify: - Maximum elevation (%). -_Note: When using this track feature it can't prevent teams using single plane lidar from completing a lap._ +_Note: When using this track feature, it can't prevent teams using single plane lidar from completing a lap._ #### Banks @@ -448,13 +448,13 @@ The competition is composed of: ## Registration -- Team interested in participating in the competition has to register using a official registration method. This method may have its deadline. +- Team interested in participating in the competition has to register using an official registration method. This method may have its deadline. - Registrations received after the deadline MAY not be accepted. - Registration is confirmed by the competition organizers after completing all required steps. These are, but not limited to: - - Filling up the registration form. + - Filling out the registration form. - Submitting a video of your car driving autonomously. - Submitting a hardware list. - - Hardware list will be made publicly available for other teams after the competition. + - The hardware list will be made publicly available for other teams after the competition. - Not submitting in time MAY void the registration. - Registration not confirmed by the organizers is not deemed valid. @@ -473,11 +473,11 @@ The team is eligible to attend the competition as long as: ## On-site registration -Upon their arrival to the competition site, the teams MUST promptly register on-site in order to race. +Upon their arrival at the competition site, the teams MUST promptly register on-site in order to race. - The teams MUST register on-site in the given time frame. - Exceptions are allowed as long as they are granted by the organization team. - - If a team is late for the registration, it MUST inform the organizers (e.g., for flights with a tight deadline, they can send the flight number to the organizers and this is considered enough notice). + - If a team is late for the registration, it MUST inform the organizers (e.g., for flights with a tight deadline, they can send the flight number to the organizers, and this is considered enough notice). - The on-site registration is composed of: @@ -485,13 +485,13 @@ Upon their arrival to the competition site, the teams MUST promptly register on- - Pre-registration of the car used within the competition. This also includes associating the car with its hardware list. - Organizers MAY allow cars without the hardware list if they can approve all required components on the spot. -- Upon completing the on-site registration the team is allowed to: +- Upon completing the on-site registration, the team is allowed to: - Attend the competition. - - Make use of the team designated area. + - Make use of the team-designated area. - Sign in to the sessions. -- Not completing the on-site registration in time MAY result into a team disqualification from the competition. +- Not completing the on-site registration in time MAY result in a team disqualification from the competition. ## Session @@ -499,17 +499,17 @@ Upon their arrival to the competition site, the teams MUST promptly register on- Parts of the competitions are organized in so-called sessions. -- The organizers will use following various notification systems during the sessions, such as (but not limited to). Competition rules specify which apply: +- The organizers will use the following various notification systems during the sessions, such as (but not limited to). Competition rules specify which apply: - [Colored flags](#flags). - [Whistles](#whistle). -- The session/slot/heat timers are fixed to the time slot and no extensions are given. - - Missing out a time slot does not give the team an additional slot. +- The session/slot/heat timers are fixed to the time slot, and no extensions are given. + - Missing out on a time slot does not give the team an additional slot. - Upon their mutual agreement, the teams are allowed to exchange the slots by informing the responsible organizers at least 10 minutes before the slot starts. -- Opt-in session slots are designated on a first-come-first-serve (FCFS) basis. +- Opt-in session slots are designated on a first-come, first-served (FCFS) basis. - The teams register individually for a given time slot using a method announced by the organizers during on-site registration. - - There MAY be a limit of time slots each team can register into. + - There MAY be a limit on the number of time slots each team can register for. - These slots are contained in, but not limited to: - Closed Practice - Inspection @@ -560,30 +560,30 @@ Practice session used for mapping the track. It MAY be organized as any other pr ## Inspection -The purpose of the Inspection is to check that the hardware of the cars meets the competition requirements and the cars are not dangerous for the environment, opponents, and people. +The purpose of the Inspection is to check that the hardware of the cars meets the competition requirements and that the cars are not dangerous to the environment, opponents, and people. -- The inspection of the vehicles is done in a dedicated time-frame. +- The inspection of the vehicles is done in a dedicated time frame. - The inspection is done by the race referees. - The inspection MUST be completed before the Qualification. - - Any significant changes to the cars hardware MAY void the inspection. - - Teams MUST inform the organizers about the any changes to an inspected car. -- When a hardware list is submitted as a part of the registration, the car is checked to match these parameters. + - Any significant changes to the car hardware MAY void the inspection. + - Teams MUST inform the organizers of any changes to an inspected car. +- When a hardware list is submitted as part of the registration, the car is checked to match these parameters. - Organizers MAY also approve using cars that do not match their parameters. -- Car that is not inspected is not allowed to be used in the competition. +- A car that is not inspected is not allowed to be used in the competition. ## Qualification -Qualification is a session testing the autonomous capabilities of the racing car. The goal is to complete a single lap without touching and crashing anything, such as, track borders, obstacles, or other cars. +Qualification is a session testing the autonomous capabilities of the racing car. The goal is to complete a single lap without touching or crashing into anything, such as track borders, obstacles, or other cars. - Qualification is done with a single racing car on the track. - Other cars may be used as static/dynamic obstacles. -- Only inspected car can be used in the Qualification. +- Only an inspected car can be used in the Qualification. - The car MAY be qualified during a practice session. - The Qualification MAY be merged with Time Trial. - - In this case the obstacle avoidance capability has to be checked separately during a dedicated session, e.g., during Practice. -- There are no penalties. Touching and/or crashing results into another try. (Up to the time limit.) + - In this case, the obstacle avoidance capability has to be checked separately during a dedicated session, e.g., during Practice. +- There are no penalties. Touching and/or crashing results in another try (up to the time limit). - Teams MAY manually place the car to the starting line. - Organizers MAY add more slots based on the success rate of the teams. @@ -596,15 +596,14 @@ Main part of the competition is composed of race sessions in which the teams are - Teams MUST pass the Qualification to join the races. - The race starts in one of the following ways. Competition rules specify which are used. - - **Manual**: Upon signalizing, the teams start their cars manually. + - **Manual**: Upon signaling, the teams start their cars manually. - The signal can be one of many types, e.g., visual, audial. - **Automatic**: Starting signal is transmitted directly into the car. - The signal denoted as "Go" is sent to start the race. - **Mixed**: Each competing team may select its starting method. - Organizers SHOULD ensure that both signals are sent in such a way that there is no advantage of using one over the other. -- The race start has one guaranteed signal: "Go". Competition rules may add other signals. - - _Note: Use this as a "template" for automatic start up. Then merge it._ +- The race start has one guaranteed signal: "Go". Competition rules may add other signals. - Usage of other signals (such as "Ready" and "Set") much be specified in the competition rules. - Countdowns between the signals may differ for every start. @@ -622,51 +621,51 @@ Main part of the competition is composed of race sessions in which the teams are ### Race penalties -During a race certain mild accidents may happen. Following steps and penalties are applied. +During a race, certain mild accidents may happen. The following steps and penalties are applied. - Touching is not penalized. - - Excessive/repeated touching MAY be considered as a crash. + - Excessive/repeated touching MAY be considered a crash. - Upon crashing into an obstacle/track border, the team has to: 1. Stop its car. - 2. Move the car (by hand or using the remote control) to the side of the track next to the latest position before crash. + 2. Move the car (by hand or using the remote control) to the side of the track next to the latest position before the crash. 3. Repair the track and/or place the obstacles to their appropriate positions. - 4. Wait for the clearance from the organizers (using, e.g. [a green flag](#green-flag)). + 4. Wait for the clearance from the organizers (using, e.g., [a green flag](#green-flag)). 5. Start the car and continue the race. - - During all of this, the opponent’s car must not be restricted by the team’s actions and the opponent is allowed to further race without stopping its car. + - During all of this, the opponent’s car must not be restricted by the team’s actions, and the opponent is allowed to further race without stopping its car. - Upon crashing into the opponent (e.g., one of the cars significantly diverges from its expected trajectory): 1. Referees call the crash and pause the race; the teams have to stop their cars. 2. Referees judge which car is at fault. 3. Both cars are placed at the location of the crash, with the at-fault car placed behind the other car by 2 meters (direct distance between the cars). - If the team that was crashed into is able to autonomously detect and recover from the crash by stopping on the side of the track, that team is granted an extra head-start of 1 meter before resuming the race (i.e., the at-fault car is placed 3 meters behind the other car). - 4. The referees resumes the race. + 4. The referees resume the race. ### Race violations -During a race, following incidents are considered as violations. +During a race, the following incidents are considered violations. - A crash is not considered a warning unless judged by the referees. - - Crashes that result in a warning include but are not limited to "malicious" crashes where the autonomous car did not attempt to slow down or steer away from the opponent. + - Crashes that result in a warning include, but are not limited to, "malicious" crashes where the autonomous car did not attempt to slow down or steer away from the opponent. - Under special circumstances, the referees may decide to give a warning to a team with the option of stopping the race to address the issue. The team has a maximum of 5 minutes to fix the issue and resume the race. - - This does not apply for [Double Elimination](#double-elimination). + - This does not apply to [Double Elimination](#double-elimination). - The algorithms MUST NOT intentionally hinder the opponent or perform any damage to it. Specifically, maneuvers such as deliberate crowding of a car beyond the edge of the track or any other abnormal change of direction are strictly prohibited. - - Violating this rule MAY lead to disqualification regardless the amount of warnings issued. + - Violating this rule MAY lead to disqualification regardless of the number of warnings issued. - During the race, the teams MUST NOT control the car manually. - Triggering the emergency stop must stop the car completely. - Manual control is allowed only after a crash, as specified in Race penalties. - - Switching to an autonomous mode MUST be done only after a clearance from the organizers (using, e.g. [a green flag](#green-flag)). - - Violating this rule MAY lead to disqualification regardless the amount of warnings issued. + - Switching to an autonomous mode MUST be done only after a clearance from the organizers (using, e.g., [a green flag](#green-flag)). + - Violating this rule MAY lead to disqualification regardless of the number of warnings issued. - Teams are allowed to report other teams' violations. - - If the reported team is found guilty, it receives a warning; otherwise it goes to the reporting team. + - If the reported team is found guilty, it receives a warning; otherwise, it goes to the reporting team. - Upon receiving 3 warnings, the team is disqualified from the competition. - - During a race this automatically means the opponent wins. + - During a race, this automatically means the opponent wins. ## Time Trial @@ -674,19 +673,19 @@ During a race, following incidents are considered as violations. -Time Trial is a race with a goal to drive through the designated track as fast as possible and as consistently as possible. The idea is to push the algorithms to their limits. +Time Trial is a race with the goal to drive through the designated track as fast as possible and as consistently as possible. The idea is to push the algorithms to their limits. - Each team MUST pass the Qualification to be able to participate in the Time Trial. - Time Trial is used as a seeding technique for the Head-to-Head Race. - This does not apply if Head-to-Head does not require seeding. -- The race consists of multiple heats, two by default. Each heat lasts for a given time (e.g., 5 minutes), and the goal is to drive a single lap in as short time as possible and to drive as many complete laps as possible. Crashing and stopping the car does not pause the heat timer. +- The race consists of multiple heats, two by default. Each heat lasts for a given time (e.g., 5 minutes), and the goal is to drive a single lap in a time as short as possible and to drive as many complete laps as possible. Crashing and stopping the car does not pause the heat timer. -- The teams are allowed to change the configuration of their algorithms in between the heats, and even during the heat. When the configuration is being changed during the heat, the car MUST stand still. In other words, the teams cannot update the configuration on-line while the car moves. +- The teams are allowed to change the configuration of their algorithms between the heats and even during the heat. When the configuration is being changed during the heat, the car MUST stand still. In other words, the teams cannot update the configuration on-line while the car moves. - In this case, the clearance for continuing the race is automatically given. -- The map (track layout) is known a priori (from a practice before) and the track layout does not change during the race. Keep in mind that cars crash into the walls and the layout of the track might slightly shift over time. Please consider this in your algorithms. +- The map (track layout) is known a priori (from practice before), and the track layout does not change during the race. Keep in mind that cars crash into the walls, and the layout of the track might slightly shift over time. Please consider this in your algorithms. ### Evaluation @@ -697,11 +696,11 @@ Time Trial is a race with a goal to drive through the designated track as fast a - Lap time is measured between two subsequent finish line crossings. - It will be measured with a time-keeping system provided by the organizers. - Consecutive uninterrupted laps. - - A (1) uninterrupted lap is counted if and only if in-between the last two finish line crossings the car was not stopped. + - A (1) uninterrupted lap is counted if and only if, between the last two finish line crossings, the car was not stopped. -- Evaluation is performed in multiple categories, each one resulting in its result table. +- Evaluation is performed in multiple categories, each resulting in its own result table. - - Fastest laptimes: Teams are ranked based on their fastest lap times. + - Fastest lap times: Teams are ranked based on their fastest lap times. - Consecutive uninterrupted laps: Teams are ranked based on the highest number of consecutive uninterrupted laps they complete. - Points are awarded in each category separately according to the ranking of the teams. @@ -714,7 +713,7 @@ Time Trial is a race with a goal to drive through the designated track as fast a - This allows teams to push their algorithms to the limits in each of the categories. - Should a tie occur in the final ranking, the team with more consecutive uninterrupted laps is ranked higher. - - Additional tie is resolved by fastest lap time. + - Additional ties are resolved by the fastest lap time. - In case the teams tie with both criteria, the tie is, with respect to the seeding, resolved by a random method (e.g., coin flip). @@ -725,15 +724,15 @@ Time Trial is a race with a goal to drive through the designated track as fast a Head-to-Head race is a race with multiple cars on the track at the same time. The idea is to drive as fast as possible while not crashing into the track and/or opponent. -- During one Head-to-Head race two teams race against each other. +- During a Head-to-Head race, two teams race against each other. -- The initial placement of the competing cars in one of the following ways. Competition rules specify which are used. +- The initial placement of the competing cars is one of the following ways. Competition rules specify which are used. - **Side-by-Side**: Both competing cars start on the same starting line. - - The teams will start side-by-side approximately 30cm apart. + - The teams will start side-by-side, approximately 30cm apart. - **Staggered Grid**: Competing cars start in a staggered grid. - - First starting position is placed in front of the starting line, closer to the side that should be more beneficial. - - Second starting position is placed 30cm to the other side, 80cm behind. - - In case more cars are present, their placing follow the "zig-zag" pattern. + - The first starting position is placed in front of the starting line, closer to the side that should be more beneficial. + - The second starting position is placed 30cm to the other side, 80cm behind. + - In case more cars are present, their placement follows the "zig-zag" pattern. - In the first heat, the team that ranked higher in Time Trial chooses the starting position. In case of more heats: - In the second heat, the teams switch sides. @@ -745,13 +744,13 @@ Head-to-Head race is a race with multiple cars on the track at the same time. Th ### Tournament types -Below a list of possible tournament types follows. Competition rules specify, which are used. +A list of possible tournament types follows. Competition rules specify which are used. #### All-vs-all Every team races with every other team. -- The final ranking is determined by the amount of wins. +- The final ranking is determined by the number of wins. @@ -761,11 +760,11 @@ Every team races with every other team. The tournament is organized as a Single Elimination in a series of rounds. -- The bracket is seeded using the results of Time Trial. - - Bracket should be designed properly, e.g., it should ensure balancing in the teams racing against each other. +- The bracket is seeded using the results of the Time Trial. + - The bracket should be designed properly, e.g., it should ensure balancing in the teams racing against each other. - Each race consists of up to three heats. - - Team that loses the race (by losing two heats) is eliminated from the tournament. + - The team that loses the race (by losing two heats) is eliminated from the tournament. #### Double Elimination @@ -773,36 +772,36 @@ The tournament is organized as a Single Elimination in a series of rounds. The tournament is organized as a Double Elimination in a series of rounds. - There are two brackets, winners' and losers'. -- The winners' bracket is seeded using the results of Time Trial. +- The winners' bracket is seeded using the results of the Time Trial. - Similarly to Single Elimination, the bracket should be designed properly, e.g., it should ensure balancing in the teams racing against each other. - Each race consists of a single heat. - - Team that loses a race for its first time is moved to the losers' bracket. - - Team that loses in the losers' bracket is eliminated from the tournament. - - In case that a team loses for its first time in the Final Round, an additional heat is provided. + - The team that loses a race for its first time is moved to the losers' bracket. + - The team that loses in the losers' bracket is eliminated from the tournament. + - In case a team loses for its first time in the Final Round, an additional heat is provided. ### Competition model -Below a list of possible competition models follows. Competition rules specify which are used. +A list of possible competition models follows. Competition rules specify which are used. #### Single Cup -All teams are racing in the same cup. +All teams are racing in the same Cup. #### Single Cup + Final Four -All teams are racing in the same cup using Double Elimination, but the finals (with the top four teams) are performed using Single Elimination. +All teams are racing in the same Cup using Double Elimination, but the finals (with the top four teams) are performed using Single Elimination. #### Double Cup (Classic Cup, Master Cup) -During the seeding, the participants are split into two groups, cups. Note that the rules may differ between the cups. In that case the Competition rules specify how. +During the seeding, the participants are split into two groups, Cups. Note that the rules may differ between the cups. In that case the Competition rules specify how. -Admission to Master Cup (with respect to the seeding) is done as follows: +Admission to the Master Cup (with respect to the seeding) is done as follows: -- Master Cup may contain up to the half of the team roster. -- First 4 teams automatically proceed. +- Master Cup may contain up to half of the team roster. +- The first 4 teams automatically proceed. - Up to the first half, all teams have an opportunity to either join or not. - The organizers MAY allow to fill the rest of the Master Cup by teams that placed top 3 in the last 3 years (1100 days). @@ -815,8 +814,8 @@ If the racing track is changed for the Master Cup, the teams are given an extra - Amount of laps completed. -- The first car that completes given amount of laps wins. - - In case that this objective is not achieved by any car, the amount of completed laps along with the achieved progress on the track is the decisive factor. +- The first car that completes a given number of laps wins. + - In case this objective is not achieved by any car, the amount of completed laps along with the achieved progress on the track is the decisive factor. @@ -826,6 +825,6 @@ If the racing track is changed for the Master Cup, the teams are given an extra The competition concludes with the Awards ceremony. The ceremony may be accompanied by a workshop session. -- During the workshop session, top 4 teams from each cup are obliged to present their approach. +- During the workshop session, the top 4 teams from each Cup are obliged to present their approach. - In case a team cannot attend the workshop, they may send a short video presentation instead. - The presentations are shared after the competition on the competition website. From 5ef8ce8e8e64b1acd075cc1c44a3e52276fb06d6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Wed, 28 Jan 2026 16:35:49 +0100 Subject: [PATCH 16/23] Extend the rules for consecutive laps --- rules_v3.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/rules_v3.md b/rules_v3.md index 1e45669..511100b 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -696,7 +696,10 @@ Time Trial is a race with the goal to drive through the designated track as fast - Lap time is measured between two subsequent finish line crossings. - It will be measured with a time-keeping system provided by the organizers. - Consecutive uninterrupted laps. - - A (1) uninterrupted lap is counted if and only if, between the last two finish line crossings, the car was not stopped. + - A (1) uninterrupted lap is counted if and only if, between the last two finish line crossings: + - The car did not crash. + - The car was not moved manually in any way (e.g., using remote controller, moving by hand). + - _Note: Using the kill-switch AND NOTHING ELSE to stop the car to change its configuration is allowed._ - Evaluation is performed in multiple categories, each resulting in its own result table. From f52a907af949a795d0a257a4f303dbadc027ee1a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Wed, 28 Jan 2026 16:41:03 +0100 Subject: [PATCH 17/23] Revert all changes Revert "Apply suggestions from code review" This reverts commit c6e541e7792909381ec5e1a2b7dd5ac3ad6de8e3. Revert "Relax dimensions to include tamiya size cars" This reverts commit d896270f22dbf1caf9a93a77d39a6aeb07f00a69. Revert "Add cost cap and ban tire additives" This reverts commit 55f17f6c3cfbac63dcbec44bb659848ab8df23fb. --- README.md | 32 +++++++++----------------------- 1 file changed, 9 insertions(+), 23 deletions(-) diff --git a/README.md b/README.md index bae5d77..9157706 100644 --- a/README.md +++ b/README.md @@ -59,11 +59,6 @@ qualification and will be automatically registered to both races. * If a team has more than one car on the track at a time, the team will be flagged. * If a team is flagged three times, the team will be disqualified from the competition. - * Before the first official timed session, each team must submit a Final Bill of Materials (BoM) for the exact car that will race. The BoM must list every major hardware component (chassis, compute, sensors, drivetrain, tires, batteries, custom parts) and its declared cost. - * The total declared hardware cost of the race car must not exceed the competition Cost Cap `COST_CAP_USD` (which will be announced by the organizers at least 8 weeks before the event). Declared cost is defined as publicly available off-the-shelf replacement cost at retail. Sponsor discounts, in-house machining time, and student labor do not reduce the declared cost, and all hardware installed during the event counts toward the Cost Cap. - * The car that runs on track must match the submitted BoM. The organizers may perform teardown after racing. Failure to submit a BoM, mismatch between the BoM and the physical car, declared cost above the Cost Cap, or misrepresentation of component cost results in disqualification. - * By entering the competition, teams agree that the organizers will publish all submitted BoMs after the event. The published data will include per-part cost, total cost, vehicle mass with race battery, measured peak motor/battery current limit, and tire compound / hardness measured at inspection. Teams also agree that any other team may freely reproduce any published hardware design or part choice in future events. Software (code, tuning, algorithms) is not published. - 3. Should a single lab wish to participate with multiple teams, the lab must provide a unique vehicle for each team. There are no limiations on the number of teams a lab can field as long as the following rules are followed: * As this is an open-source community where collaboration is encouraged, the teams are allowed to help and collaborate **before** the competition. However, during the competition, the teams must compete as independent teams. * Each team must run their own unique algorithms and cannot run the same code on multiple vehicles. @@ -90,27 +85,22 @@ qualification and will be automatically registered to both races. Only cars that meet the following constraints will be allowed to participate: - 1. The vehicle hardware must comply with the competition Cost Cap described in Section 2 and must be fully documented in the team's submitted Final BoM. Teams may source or fabricate any components, provided (i) the car passes safety inspection, (ii) it fits within the dimensional limits below, and (iii) all components and their declared retail replacement cost appear in the BoM. Historical reference BOMs (e.g., F1TENTH) are examples only and are not mandatory. - 2. Each vehicle will be inspected as part of qualification for safety, dimensional limits, and BoM / Cost Cap compliance. If the criteria are not met, the vehicle is disqualified. + 1. The vehicle is constructed according to the official [bill of materials](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/build_car/bom.html#bill-of-materials). The teams are allowed to use components of similar or lower specifications. + 2. Each vehicle will be inspected as a part of qualification whether it meets the criteria. In case the criteria are not met, the vehicle is disqualified. 3. _Chassis_: - The race is designed with **1:10 Traxxas** chassis in mind (e.g., [TRA74054](https://traxxas.com/products/models/electric/ford-fiesta-st-rally), [TRA6804R](https://traxxas.com/products/models/electric/6804Rslash4x4platinum), [TRA68086](https://traxxas.com/products/models/electric/slash-4x4-tsm)). These chassis are recommended. Generally, any chassis within 15% of 1:10 RC cars’ dimensions is allowed (150mm ≤ Width ≤ 341mm, 340mm ≤ Length ≤ 654mm). Both 4WD and 2WD are permitted. + The race is designed with **1:10 Traxxas** chassis in mind (e.g., [TRA74054](https://traxxas.com/products/models/electric/ford-fiesta-st-rally), [TRA6804R](https://traxxas.com/products/models/electric/6804Rslash4x4platinum), [TRA68086](https://traxxas.com/products/models/electric/slash-4x4-tsm)). These chassis are recommended, but generally, any chassis within 15% of the traxxass cars' dimensions is allowed ( 238mm ≤ Width ≤ 341mm, 454 mm ≤ Length ≤ 654mm). Both 4WD and 2WD are permitted. 4. _Main Computation Unit_: - Due to supply chain issues, we're removing constraints on the main computation unit. Any suitable computing unit that physically fits on the vehicle within the size limit is allowed. Examples include Nvidia Jetson Xavier NX, Nvidia Jetson Orin Nano, Nvidia Jetson TX2, Nvidia Jetson Nano, Intel NUC, Raspberry Pi, etc. In the spirit of the competition, all computation must be done onboard the vehicle. + Due to supply chain issues, we're removing constraints on the main computation unit. Any suitable computing unit that physically fits on the vehicle within the size limit is allowed. Examples inlcude Nvidia Jetson Xavier NX, Nvidia Jetson Orin Nano, Nvidia Jetson TX2, Nvidia Jetson Nano, Intel NUC, Raspberry Pi, etc. In the spirit of the competition, all computation must be done onboard the vehicle. 5. _LiDAR_: - Any LiDAR sensor (2D or 3D) may be used provided it is mounted safely, fits within the vehicle packaging, and the declared cost of the sensor keeps the vehicle within the Cost Cap. The exact model and declared retail cost must appear in the Final BoM. + [**Hokuyo UST-30LX**](https://www.hokuyo-aut.jp/search/single.php?serial=233), its equivalent, or anything of lower specifications is allowed. The main observed characteristics are: detection range (30 m), scanning frequency (40 Hz), and angular resolution (0.125°). 6. _Camera_: Both *monocamera* (e.g. Logitech C270, Logitech C920, Raspberry Pi Camera Module V2, Arducam) and *stereocameras* (e.g. Intel Realsense, ZED) are allowed. 7. _Engine_: - The car must have exactly one electric motor that drives the wheels. Any brushless DC motor and any ESC are allowed, sensored or sensorless, and any gear ratio is allowed, provided the system passes safety inspection. Multiple drive motors are not allowed. During inspection the organizers will record the vehicle mass with race battery and the peak motor/battery current limit for publication after the event (see Section 2). + Only brushless DC motors are allowed. The [**Velineon 3500 kV**](https://traxxas.com/sites/default/files/3351-INST-KC1682%20Velineon%203500_ML_120813.pdf), its equivalent, or anything of lower specifications regarding power and torque are allowed. The car must have **only one** DC motor driving the wheels. The motor could either be sensored or sensorless as long as it meets the specifications 8. _Other sensors_: Other sensors (IMUs, encoders, custom electronic speed controllers) are not restricted. Indoor GPS sensors (e.g. Marvelmind) are not allowed. 9. _Tires_: - There are no restrictions on the tires used by the car. Any and all tires that fit the wheels of the chassis are permitted. The use of tire additives (e.g., traction compounds) is strictly prohibited at all times during the event, including inspection, practice, and races. Violations may be discovered by organizers at any time or reported by other teams (see point 5 below). If any team is found to have used tire additives, the team will: - 1. Have to replace the tires with new tires. The team is responsible for sourcing the new tires in time for the competition. - 2. Be disqualified from the competition if new tires are not provided in time for the competition. - 3. If time-trials have already been completed, the team's standing will be adjusted to last place. - 4. If the team has already achieved a podium finish, the podium standing will be revoked and the next best team will be promoted to the podium. - 5. Other teams are allowed to report a team that is using tire additives to the organizers. + There are no resutrictions on the tires used by the car. Any and all tires that fit the wheels of the chassis are permitted. 10. _Battery_: The drive motor should be driven *at most* by one (or any equivalent combination) battery rated at most **4s**. There are no limitations on the capacity of the battery. More than one battery can be used on the car as long as only one 4s battery powers the motor. Teams are encouraged to have spare batteries to allow fast replacements in case the battery gets discharged at an inconvenient time. 11. _Transmitter Spot_: @@ -158,17 +148,13 @@ The competition will take place inside [Georgia World Congress Center](https://w ## 2.3 Inspection -1. The purpose of the Inspection is to check that (i) the hardware of the autonomous cars meets the competition requirements and is safe for the environment, opponents, and people, and (ii) the car matches the submitted Final BoM and complies with the Cost Cap. +1. The purpose of the Inspection is to check that the hardware of the autonomous cars meets the competition requirements and the cars are not dangerous for the environment, opponents, and people. 2. The inspection of the vehicles is done on the first day in the morning. 3. The inspection is done by the race referees. -4. The inspection has to be completed before the Time Trials and after any significant changes to the car's hardware or algorithms during any of the days of the event. - -5. At inspection, each team must submit the Final BoM described in Section 2. The BoM must match the physical car that will race. If the BoM is missing, incomplete, or does not match the physical car, the team is disqualified and cannot proceed to Time Trials. - -6. At inspection, teams must report (a) total vehicle mass with the race battery installed, (b) peak motor/battery current limit as configured on the ESC, and (c) tire compound / hardness. These values will be published together with the BoM after the event. By entering the competition, each team agrees to this disclosure. +4. The inspection has to be completed before the Time Trials and after any significant changes to the cars hardware or algorithms during any of the days of the event. ## 2.4 Time Trial From 77f6b90a2e73fb8372192e883a345574430b976e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Wed, 28 Jan 2026 16:45:09 +0100 Subject: [PATCH 18/23] Remove the outline --- rules_v3.md | 35 ----------------------------------- 1 file changed, 35 deletions(-) diff --git a/rules_v3.md b/rules_v3.md index 511100b..3e20dba 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -1,6 +1,4 @@ # RoboRacer Rules -_Note: This is a draft of v3 rules. Commentary will be removed in the final version._ - _Version: 3.2026-draft_ @@ -64,39 +62,6 @@ h2, h3, h4, h5, h6 { } --> -## Outline -The main concept is to go through the v2 rules and filter out those that are not required anymore. In general, v3 should be ready for **all** competitions, introducing harmony and transparency to the overall competition environment. - -The current idea is to provide a set of rules (also, general rules) and then, optionally, competition modifications (also, additional rules). - -Even though the aim is to make the general rules shorter, it should give multiple options to host a competition; then, inside the additional rules, you specify which parts apply. - -The final rules should be coherent and leave a smaller window for possible mistakes, e.g., officially having a UK competition in Pennsylvania. - -Note: Parts of these rules are taken over from the rules of past ~16 competitions. Credits go to the people creating those rules. (Even though they are mostly unknown.) - -In the rules, we should cover: - -- Definitions -- Car -- Track -- Competition Area -- Practice -- Inspection -- Qualification -- Timed Race -- Head-to-Head Race - -On the other hand, I want to avoid: - -- Duplicit rules (e.g., parts about the box on the car). -- Rules that are not used anymore (or not used at all). -- Change will/must into may in parts where the rules might not be applied because of the competition setting (e.g., small competitions have different needs than big competitions). - ---- - -## General - These rules apply to all official in-person RoboRacer competitions. From 4fd6aebbe0728ef0e3e8a34c2f7959cbab7ceefa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Thu, 29 Jan 2026 16:02:26 +0100 Subject: [PATCH 19/23] Move the CSS into a separate file --- rules_v3.md | 63 ++--------------------------------------------- style.css | 71 +++++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 73 insertions(+), 61 deletions(-) create mode 100644 style.css diff --git a/rules_v3.md b/rules_v3.md index 3e20dba..aa1bb3a 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -1,66 +1,7 @@ # RoboRacer Rules -_Version: 3.2026-draft_ - - - - +## General +_Version: 3.2026-draft_ diff --git a/style.css b/style.css new file mode 100644 index 0000000..12f89bc --- /dev/null +++ b/style.css @@ -0,0 +1,71 @@ +/* https://discourse.devontechnologies.com/t/css-for-markdown-numbered-headings/71404/3 */ +/* The site automatically shifts this by "one", e.g., h1 -> h1. */ +body { + counter-reset: h1 h2 h3 h4 p; +} +h1 { + counter-reset: h2; +} +h1::before { + counter-increment: h1; + /*content: counter(h1) ". ";*/ +} +h2 { + counter-reset: h3; +} +h2::before { + counter-increment: h2; + /*content: counter(h1) "." counter(h1) ". ";*/ + content: counter(h2) ". "; +} +h3::before { + counter-increment: h3; + /*content: counter(h1) "." counter(h1) "." counter(h2) ". ";*/ + content: counter(h2) "." counter(h3) ". "; +} +h3 { + counter-reset: h4; +} +h4::before { + counter-increment: h4; + content: counter(h4, lower-alpha) ". "; +} +p::before { + /*counter-increment: p; + content: "§ " counter(p); + margin-right: 1rem; + font-weight: bold;*/ +} +hr { + counter-reset: p; +} + +.post ul { + margin-bottom: 0rem; +} +.post p { + margin-top: 0.5rem; + margin-bottom: 0.5rem; +} +.post li p { + margin-bottom: 0rem; +} +.post h1 { + margin-top: 2rem; + margin-bottom: 1.5rem; +} +.post h2, .post h3, .post h4 { + margin-top: 2rem; + margin-bottom: 1rem; +} + +/*.post ol { + list-style-type: lower-alpha; +} +.post ol ol, +.post ul ol { + list-style-type: lower-roman; +}*/ +/*.post ol, .post ul, .post p { + margin-bottom: 0rem; +}*/ \ No newline at end of file From f0671c8608ab0843d28a8b2aa7842724f219932d Mon Sep 17 00:00:00 2001 From: Ahmad Amine Date: Mon, 9 Feb 2026 03:22:22 -0500 Subject: [PATCH 20/23] Fix grammar, clarify wording, standardize wording --- rules_v3.md | 157 ++++++++++++++++++++++++++-------------------------- 1 file changed, 79 insertions(+), 78 deletions(-) diff --git a/rules_v3.md b/rules_v3.md index aa1bb3a..afc3842 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -51,7 +51,7 @@ These rules are organized as follows: ## Definitions -- Team: A group of people with a racing car interested in a competition. +- Team: A group of people who own a racing car and are interested in competing. - Registered team: Team that registered for the competition using an official registration method, e.g., sending a registration form. - Approved team: Registered team that sent all required materials to the organizers before the deadline and passed all necessary checks. - Participating team: Approved team that successfully registered on-site. @@ -60,7 +60,7 @@ These rules are organized as follows: - Team Member: A member of the team. Each person MUST belong to only one team during the competition. - Captain: A team member who represents the team and is used as a contact person by the competition organizers. Teams choose their captain during the on-site registration for the duration of the competition. - Operator: A team member who is holding the remote controller in order to hit the [kill-switch](#kill-switch) when necessary. - - Operator stance: A stance in which the Operator holds the remote in a raised hand. Changing into this stance also signals that the team is ready for a race. + - Operator stance: A stance in which the Operator holds the remote overhead in one hand. Changing into this stance also signals that the team is ready for a race. - Car: Vehicle used in the competition, assembled according to the Vehicle specification. Each team MUST have its own car. - Inspected car: Car that successfully passed through the Inspection. - Hardware list: List of components that the car is composed of, along with their costs. All parts of the Vehicle specification MUST be addressed along with additional sensors. @@ -73,23 +73,23 @@ These rules are organized as follows: - Session: A block of a specific competition part. - Slot: Time block reserved for a subset of teams. A single session usually contains multiple slots. - Heat: Single instance of n-teams racing on the track. A race can be composed of multiple heats. -- Touching: Moving an object by less than 5 cm. -- Crashing: Moving an object by at least 5 cm. When interacting with another car, crashing means significantly changing its expected trajectory. -- Overtake: The act of bypassing an opponent's car by at least half of its length. -- Offense: Minor or less serious infringement of the rules that MAY result in a penalty. Repeated offenses MAY be treated as a violation. +- Touching: Displacing an object by less than 5 cm from its original position. +- Crashing: Displacing an object by at least 5 cm from its original position. When involving another car, crashing means significantly altering its expected trajectory. +- Overtake: The act of one car bypassing an opponent's car such that the overtaking car leads by at least half of its own length. +- Offense: Minor (less serious) infringement of the rules that MAY result in a penalty. Repeated offenses MAY be treated as a violation. - Penalty: Punishment for offenses and violations. -- Violation: Major or severe infringement of the rules that MAY result in a penalty. Violation MAY result in warnings. +- Violation: Major (more serious) infringement of the rules that MAY result in a penalty. A violation MAY result in warnings. - Warning: Issued for violating the rules. Three warnings MAY lead to disqualification from the competition. - Disqualification: Revoking the ability to attend the competition. -- Whistle: Sound signal (e.g., whistle, buzzer) to raise teams' attention. Used during the race to highlight an important event. May be accompanied with flags. +- Whistle: Sound signal (e.g., whistle, buzzer) to alert teams. Used during the race to highlight an important event. May be accompanied with flags. - Flags: Visual signal to the teams. May be accompanied with whistles. When flags are used during the competition, their meaning is as follows: - - Checkered flag: A flag is raised if the team is on the last lap. The flag is dropped and then waved when the team finishes and wins the current heat. - - Red flag: A flag is raised if a race-stopping car crash occurs. The flag is dropped after all cars are stopped, and the team representatives are allowed to approach the track. - - Green flag: A flag is raised to signal that the race is safe to continue for the stopped cars. After the teams confirm their readiness (using [Operator stance](#operator-stance)), the flag is dropped, allowing the stopped cars to resume the race. + - Checkered flag: A flag is raised to indicate the team is on the last lap. The flag is dropped and then waved when the team finishes and wins the current heat. + - Red flag: A flag is raised to signal that a crash has necessitated stopping the race. The flag is dropped after all cars are stopped, and team members are allowed to approach the track. + - Green flag: A flag is raised to signal that stopped cars may safely resume racing. After the teams confirm their readiness (using [Operator stance](#operator-stance)), the flag is dropped, allowing the stopped cars to resume the race. - Blue flag: A flag is raised during open testing to indicate that a team needs to let another team pass. - - Yellow flag: A flag is raised to indicate that the teams have to drive slowly, because of, e.g., a hazard on the track. Yellow flags MAY also be placed on the track to define a slow-speed section. - - Black-and-White flag: A flag is raised if the team is warned for a rule violation. - - Black flag: A flag is raised if the team is disqualified. The flag is dropped after the disqualified team stops the car and leaves the track. The opponent is allowed to continue the race. + - Yellow flag: A flag is raised to indicate that teams must drive slowly because of, e.g., a hazard on the track. Yellow flags MAY also be placed on the track to define a slow-speed section. + - Black-and-White flag: A flag is raised to warn a team of a rule violation. + - Black flag: A flag is raised to signal that a team is disqualified. The flag is dropped after the disqualified team stops the car and leaves the track. The opponent is allowed to continue the race. - _Note: Flags MAY be pointed at the [Operator](#operator) to signalize that their effect applies only for that team. This is used, e.g., when only a single set of flags is available._ @@ -110,45 +110,45 @@ Each vehicle will be inspected during the competition to determine whether it me 3. Chassis - No additional limits. - Recommended: Traxxas 1:10 (e.g., TRA74054, TRA6804R, TRA68086) -3. Bumpers +4. Bumpers - A front bumper (at least 5 cm thickness) from a soft material is required. - The bumper must be attached to the car in a way that it does not fall off at any time. - Example: TRA7436 + TRA7437 + TRA7415X -4. Tires +5. Tires - No limits. -4. Drivetrain +6. Drivetrain - No limits. Both 2WD and 4WD are allowed. -4. Motor +7. Motor - Electric motors only. - Only a single motor can be used to operate the drivetrain. - Torque: ≤ 0.237N·m (100A @ 3500RPM/V) + 10% - Recommended: Velineon 3500 - - Other methods for providing motion to the whole car (such as propellers) are not allowed. -5. Battery + - Other means of propulsion (such as propellers) are not allowed. +8. Battery - Up to **4S LiPo** for powering the motor. - When using a battery with another cell chemistry, its performance MUST NOT exceed this. - Additional batteries for powering other components are not limited. -5. Electronic Speed Controllers +9. Electronic Speed Controllers - No limits. - Recommended: VESC -5. Remote controller +10. Remote controller - No limits. - It must have a [kill-switch](#kill-switch) ability so the [Operator](#operator) is able to stop the car immediately and remotely. -6. Compute - - No limits, but all computation during the race MUST be done onboard the vehicle. +11. Compute + - No limits, but all computation during the race MUST be performed by one or more computing devices physically mounted on the vehicle, powered by on-board power sources (i.e batteries). Offloading computation to external servers, cloud services, or off-vehicle devices is not allowed. - Recommended: NVIDIA Jetson Xavier, NVIDIA Jetson Orin, Intel NUC, etc. -7. LiDAR +12. LiDAR - Number of planes: Not limited - Detection range: Not limited - Scanning frequency: ≤ 40Hz - Angular resolution: ≥ 0.125° - Recommended: Hokuyo UST-30LX, Hokuyo UST-10LX, etc. -8. Camera +13. Camera - No limits. Monocameras and stereocameras are allowed. -9. External localization +14. External localization - GPS and similar indoor solutions are not allowed. - Exception: Organizers MAY use it. -10. Production cost +15. Production cost - No limits. - **Starting from 2027, it will be limited to ~ 5000$.** (Current estimate.) - Contains the price of all components + price estimation of custom parts. @@ -160,23 +160,23 @@ Other sensors are not restricted; however, they MUST be mentioned in the hardwar ### Vehicle parameters -- You MUST NOT hinder the opponents from detecting your car, e.g., using materials/colors to adjust the car reflectivity. -- At all times, the car MUST occupy a square-shaped space of size at least 12×12 cm at every horizontal plane between 10 and 30 cm above the ground. Usually, this is achieved by placing a 12x12x20cm box on top of the car at its back. - - The box MUST be made of LiDAR perceivable material (e.g., cardboard). - - As long as the object results in the desired LiDAR signature, the object can have any additional aerodynamic shapes added, like fins, wings, etc. +- Teams MUST NOT hinder the opponents from detecting their car, e.g., using materials or colors to reduce the car's reflectivity. +- At all times, the car MUST occupy a square-shaped space of at least 12×12 cm at every horizontal plane between 10 and 30 cm above the ground. Usually, this is achieved by placing a 12×12×20 cm box on top of the car at its rear. + - The box MUST be made of LiDAR-perceivable material (e.g., cardboard). + - Provided the object produces the required LiDAR signature, additional aerodynamic features such as fins or wings may be added. - The box MAY have any color as long as it is easily perceivable by the LiDARs of the other cars. -- Tire cleaning is permitted as long as the solution used does not leave any residuals on the track after cleanup. +- Tire cleaning is permitted as long as the solution used does not leave any residue on the track after cleanup. - The following methods are prohibited: - Cleaning using soaps. - Volatile chemicals (e.g., alcohol-based cleaning liquids) are allowed. - - The team is responsible for ensuring that the tires are completely dry and do not leak any solution after squeezing. -- Tire modifications are generally prohibited. These are, for example: + - The team is responsible for ensuring that the tires are completely dry and that no solution can be extracted from the tires when compressed. +- Tire modifications are generally prohibited. Examples of prohibited modifications include, but are not limited to: - Deliberately sanding the tires during the competition. - Using traction compounds or "sauces". - All vehicle components MUST be either commercially available or manufactured by the team. - Custom parts MAY be manufactured by a company; however, the team needs to own all required source files. -- Additional requirements MAY be induced on the vehicles in the competition rules. These are, for example: +- Additional requirements MAY be imposed on the vehicles in the competition rules. Examples include: - Space for a sticker (e.g., competition sponsors, vehicle identification). - Space for an active marker (e.g., external localization for organizers). - Empty USB port (e.g., for powering up additional electronics). @@ -185,7 +185,7 @@ Other sensors are not restricted; however, they MUST be mentioned in the hardwar ## Track -Racing track is a delimited area used for racing. Organizers are responsible for marking down the track layout and fixing it throughout the competition. +The racing track is a delimited area used for racing. Organizers are responsible for defining and marking the track layout (e.g., using floor tape) and maintaining it throughout the competition. The competition rules MUST specify: @@ -200,39 +200,39 @@ The competition rules MUST specify: ### General track notes -- The surface friction MAY naturally slightly differ across the track. -- When the room is surrounded by windows or semi-transparent surfaces, it might result in incorrect sensor measurements. -- When the track is delimited by a set of pipes (on top of each other), there might be gaps between them. -- Due to the car tilting, the sensors might see over the track borders or see the floor. -- When multiple tracks are present, their parameters, features, and overall nature MAY differ. +- The surface friction MAY differ slightly across the track due to natural variation. +- Windows or semi-transparent surfaces surrounding the room may cause incorrect sensor measurements. +- When the track is delimited by stacked pipes, there might be gaps between them. +- Due to vehicle tilt, sensors may sense objects beyond the track borders or the floor beneath the barriers. +- When multiple tracks are present, their parameters, features, and characteristics MAY differ. - The types of sessions MAY differ per track. The organizers MUST clearly indicate the type of session currently active for each track. ### Track behaviour - The teams are obliged to be respectful to other users of the track. - - Teams MUST pay attention when moving around the track, especially more so when, e.g., running or jumping. - - In case of a human-car interaction, the person inside the track is always at fault. + - Teams MUST pay attention when moving around the track, especially when running or jumping. + - In the event of a collision between a person and a car, the person on the track is always considered at fault. - Teams are not allowed to obstruct other teams by any means (e.g., if specified, leaving a stationary car on the track outside of the designated area). - - Teams are not allowed to endanger other teams, cars, and especially spectators and by-goers by inappropriate behaviour. + - Teams are not allowed to endanger other teams, cars, and especially spectators and bystanders by inappropriate behaviour. - While using the track: - - Teams SHOULD NOT intentionally run code that they expect will crash into the track boundaries. Overly aggressive testing may mess with the track layout. - - Teams SHOULD limit the amount of damage to the track to an absolute minimum. + - Teams SHOULD NOT intentionally run algorithms they expect will cause the car to crash into the track boundaries. Overly aggressive testing may alter the track layout. + - Teams SHOULD take care to minimize any damage to the track. - Teams MUST have at least one team member ([Operator](#operator)) that keeps an eye on the car and is prepared to activate the [kill-switch](#kill-switch). -- Teams that are not taking part in the session should avoid the track at all times. +- Teams not participating in the current session MUST stay clear of the track area at all times. ### Track features -A list of possible track features follows. Competition rules will specify which of them (might) apply. +A list of possible track features follows. Competition rules specify which are used. #### Dead-ends Track contains parts that do not lead to the finish line. -- Driving into these track sections is not penalized. +- Entering a dead-end is not penalized. #### Speed-restricted sections @@ -240,10 +240,10 @@ Track contains parts that do not lead to the finish line. Track contains sections with defined speed limits. - Driving over the speed limit is not allowed. - - Upon exceeding the speed limit, the team has to stop the car and move it before the speed-restricted section. + - If a car exceeds the limit, the team MUST stop the car and move it to before the speed-restricted section. - The speed limit is defined in one of the following ways: - Area delimitation with special markings. -- The competition rules have to specify: +- Competition rules MUST specify: - Speed limits used within the competition. @@ -265,7 +265,7 @@ Track borders are not closed, i.e., there are horizontal gaps in them. - Inside the gaps, the track border is delimited by a tape on the ground (or any other marking technique). - If the tape width is not negligible, its inner edge is considered as the border. -- Driving inside the gaps is not allowed. +- Driving through or across wall gaps is not allowed. - Crossing the track border is considered a [touch](#touch). - Crossing the track border by parts of at least 3 wheels is considered a [crash](#crash). - The maximum gap width is lower than the minimum track width in the track section. @@ -295,7 +295,7 @@ The track surface is deliberately altered in certain track sections. - This change can both reduce or increase the surface friction. - On the edge of the surface change, the track does not have to be entirely flat; a small height change may occur. - This change is below a certain threshold to not pose a threat to the cars. -- Competition rules must specify: +- Competition rules MUST specify: - How the surface is altered. - The surface cannot be altered by methods that could damage the cars, e.g., spilling water on the track. - Maximum height change between two surfaces (mm). @@ -309,7 +309,7 @@ The track contains track splits, i.e., the track section is split into multiple - However, they might not be equal performance-wise, e.g., taking one of the paths might be more beneficial than the other. - Driving through only one of the paths is required for lap completion. - It is allowed to switch between the paths in subsequent laps. -- Competition rules have to specify: +- Competition rules MUST specify: - Track width in the split section, in case it would differ from the general track width limit. @@ -318,7 +318,7 @@ The track contains track splits, i.e., the track section is split into multiple The track contains a sloped section, e.g., a bridge. - In this section, the track is generally not flat. -- Competition rules must specify: +- Competition rules MUST specify: - Maximum elevation (%). _Note: When using this track feature, it can't prevent teams using single plane lidar from completing a lap._ @@ -329,7 +329,7 @@ _Note: When using this track feature, it can't prevent teams using single plane The track contains banks, i.e., the track is elevated in the outer parts of turns. - The track is not flat in this section. -- Competition rules must specify: +- Competition rules MUST specify: - Track width that is not banked next to the bank [m]. - Minimum bank width [m]. - Maximum bank elevation [%]. @@ -405,13 +405,13 @@ Upon their arrival at the competition site, the teams MUST promptly register on- Parts of the competitions are organized in so-called sessions. -- The organizers will use the following various notification systems during the sessions, such as (but not limited to). Competition rules specify which apply: +- The organizers will use the following various notification systems during the sessions, such as (but not limited to). Competition rules specify which are used: - [Colored flags](#flags). - [Whistles](#whistle). - The session/slot/heat timers are fixed to the time slot, and no extensions are given. - Missing out on a time slot does not give the team an additional slot. - - Upon their mutual agreement, the teams are allowed to exchange the slots by informing the responsible organizers at least 10 minutes before the slot starts. + - Upon their mutual agreement, the teams are allowed to exchange slots by informing the organizers at least 10 minutes before the slot starts. - Opt-in session slots are designated on a first-come, first-served (FCFS) basis. - The teams register individually for a given time slot using a method announced by the organizers during on-site registration. @@ -428,7 +428,7 @@ Parts of the competitions are organized in so-called sessions. ## Practice -Practice is a session for the teams to train and test their car directly on the track. +Practice is a session for teams to test and tune their car and algorithms on the track, including activities such as collecting data and training models. - Practice track SHOULD contain all track features used during the competition, but its layout may differ. - When the layout differs, there MUST be another practice session before the actual race to allow the teams to map the track. @@ -436,7 +436,7 @@ Practice is a session for the teams to train and test their car directly on the ### Practice variants -A list of possible practice variants follows. Competition rules specify which of them apply. +A list of possible practice variants follows. Competition rules specify which are used. #### Shared Practice (Group) @@ -466,7 +466,7 @@ Practice session used for mapping the track. It MAY be organized as any other pr ## Inspection -The purpose of the Inspection is to check that the hardware of the cars meets the competition requirements and that the cars are not dangerous to the environment, opponents, and people. +The purpose of the Inspection is to verify that the hardware of the cars meets the competition requirements and that the cars are not dangerous to the physical surroundings, opponents, or bystanders. - The inspection of the vehicles is done in a dedicated time frame. - The inspection is done by the race referees. @@ -510,7 +510,7 @@ Main part of the competition is composed of race sessions in which the teams are - Organizers SHOULD ensure that both signals are sent in such a way that there is no advantage of using one over the other. - The race start has one guaranteed signal: "Go". Competition rules may add other signals. - - Usage of other signals (such as "Ready" and "Set") much be specified in the competition rules. + - Usage of other signals (such as "Ready" and "Set") MUST be specified in the competition rules. - Countdowns between the signals may differ for every start. - The race is stopped (paused) by, e.g.: @@ -530,7 +530,7 @@ Main part of the competition is composed of race sessions in which the teams are During a race, certain mild accidents may happen. The following steps and penalties are applied. - Touching is not penalized. - - Excessive/repeated touching MAY be considered a crash. + - Excessive or repeated touching MAY be considered a crash. - Upon crashing into an obstacle/track border, the team has to: 1. Stop its car. @@ -539,7 +539,7 @@ During a race, certain mild accidents may happen. The following steps and penalt 4. Wait for the clearance from the organizers (using, e.g., [a green flag](#green-flag)). 5. Start the car and continue the race. - - During all of this, the opponent’s car must not be restricted by the team’s actions, and the opponent is allowed to further race without stopping its car. + - During all of this, the opponent's car must not be restricted by the team's actions, and the opponent is allowed to continue racing without stopping its car. - Upon crashing into the opponent (e.g., one of the cars significantly diverges from its expected trajectory): 1. Referees call the crash and pause the race; the teams have to stop their cars. @@ -588,10 +588,10 @@ Time Trial is a race with the goal to drive through the designated track as fast - The race consists of multiple heats, two by default. Each heat lasts for a given time (e.g., 5 minutes), and the goal is to drive a single lap in a time as short as possible and to drive as many complete laps as possible. Crashing and stopping the car does not pause the heat timer. -- The teams are allowed to change the configuration of their algorithms between the heats and even during the heat. When the configuration is being changed during the heat, the car MUST stand still. In other words, the teams cannot update the configuration on-line while the car moves. +- The teams are allowed to change the configuration of their algorithms between the heats and even during the heat. To update the car's configuration during a heat, the team MUST first bring the car to a complete stop; the car MUST NOT be in motion while any configuration change is being applied. - In this case, the clearance for continuing the race is automatically given. -- The map (track layout) is known a priori (from practice before), and the track layout does not change during the race. Keep in mind that cars crash into the walls, and the layout of the track might slightly shift over time. Please consider this in your algorithms. +- The map (track layout) is known a priori (from practice before), and the track layout does not change during the race. Note that collisions with track boundaries may cause minor shifts in the track layout over time. Teams should account for this in their algorithms. ### Evaluation @@ -602,10 +602,10 @@ Time Trial is a race with the goal to drive through the designated track as fast - Lap time is measured between two subsequent finish line crossings. - It will be measured with a time-keeping system provided by the organizers. - Consecutive uninterrupted laps. - - A (1) uninterrupted lap is counted if and only if, between the last two finish line crossings: + - A single (1) uninterrupted lap is counted if and only if, between the last two finish line crossings: - The car did not crash. - The car was not moved manually in any way (e.g., using remote controller, moving by hand). - - _Note: Using the kill-switch AND NOTHING ELSE to stop the car to change its configuration is allowed._ + - _Note: Using the [kill-switch](#kill-switch) AND NOTHING ELSE to stop the car to change its configuration is allowed._ - Evaluation is performed in multiple categories, each resulting in its own result table. @@ -614,7 +614,7 @@ Time Trial is a race with the goal to drive through the designated track as fast - Points are awarded in each category separately according to the ranking of the teams. - - A (1) Point is given for every team that has worse scoring. + - A single (1) point is given for every team that is ranked below. - The final score for the Time Trial is the sum of the points from all categories. @@ -648,7 +648,7 @@ Head-to-Head race is a race with multiple cars on the track at the same time. Th - Should a third heat be necessary, the team that ranked higher in Time Trial chooses the starting position again. - _Note: In case both teams are tied in the Time Trial results, a random method (e.g., coin flip) is used to determine the starting positions._ -- Similarly to Time Trial, the car MUST be stopped to change its configuration. +- Similarly to Time Trial, the car MUST be brought to a complete stop before changing its configuration. ### Tournament types @@ -659,7 +659,7 @@ A list of possible tournament types follows. Competition rules specify which are Every team races with every other team. -- The final ranking is determined by the number of wins. +- The final ranking is determined by the number of wins. @@ -705,7 +705,7 @@ All teams are racing in the same Cup using Double Elimination, but the finals (w #### Double Cup (Classic Cup, Master Cup) -During the seeding, the participants are split into two groups, Cups. Note that the rules may differ between the cups. In that case the Competition rules specify how. +During the seeding, the participants are split into two groups, Cups. Note that the rules may differ between the cups. In that case, the competition rules specify how. Admission to the Master Cup (with respect to the seeding) is done as follows: @@ -721,10 +721,11 @@ If the racing track is changed for the Master Cup, the teams are given an extra - Each team will be evaluated based on the following criteria: - - Amount of laps completed. + - Number of laps completed. -- The first car that completes a given number of laps wins. - - In case this objective is not achieved by any car, the amount of completed laps along with the achieved progress on the track is the decisive factor. +- The first car that completes the required number of laps wins. + - Competition rules MUST specify the number of laps required for each race. + - If no car achieves this objective, the number of completed laps and the progress along the track covered in the final incomplete lap determine the winner. @@ -734,6 +735,6 @@ If the racing track is changed for the Master Cup, the teams are given an extra The competition concludes with the Awards ceremony. The ceremony may be accompanied by a workshop session. -- During the workshop session, the top 4 teams from each Cup are obliged to present their approach. - - In case a team cannot attend the workshop, they may send a short video presentation instead. +- During the workshop session, the top 4 teams from each Cup are required to present their approach. + - If a team cannot attend the workshop, they may send a short video presentation instead. - The presentations are shared after the competition on the competition website. From 3c0d08059c2228c8d16c172a8c38652b013f3686 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Wed, 25 Mar 2026 18:53:55 +0100 Subject: [PATCH 21/23] Clarify certain sections as a diff This will be published to the website when completely finished. --- rules_v3.md | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/rules_v3.md b/rules_v3.md index afc3842..37f562e 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -272,7 +272,6 @@ Track borders are not closed, i.e., there are horizontal gaps in them. - _In other words, the open wall gap is always shorter than the track width._ - #### Intersections _Note: This won't be used for ICRA 2026 race._ @@ -318,8 +317,10 @@ The track contains track splits, i.e., the track section is split into multiple The track contains a sloped section, e.g., a bridge. - In this section, the track is generally not flat. +- This section MUST be delimited by walls to prevent the cars from falling off the slope. - Competition rules MUST specify: - Maximum elevation (%). + - Type of the delimiters if differ from the track delimiters. _Note: When using this track feature, it can't prevent teams using single plane lidar from completing a lap._ @@ -705,13 +706,16 @@ All teams are racing in the same Cup using Double Elimination, but the finals (w #### Double Cup (Classic Cup, Master Cup) -During the seeding, the participants are split into two groups, Cups. Note that the rules may differ between the cups. In that case, the competition rules specify how. +DuringBefore the seeding, the participants are split into two groups, Cups. Note that the rules may differ between the cups. In that case, the competition rules specify how. + +- Each team competes in only one of the Cups. +- Brackets are seeded in each Cup separately. -Admission to the Master Cup (with respect to the seeding) is done as follows: +Admission to the Master Cup (with respect to the seedingresults of Time Trial) is done as follows: - Master Cup may contain up to half of the team roster. - The first 4 teams automatically proceed. -- Up to the first half, all teams have an opportunity to either join or not. +- Up to the first half of the Time Trial leaderboard, all teams have an opportunity to either join or not. - The organizers MAY allow to fill the rest of the Master Cup by teams that placed top 3 in the last 3 years (1100 days). If the racing track is changed for the Master Cup, the teams are given an extra practice session to test their car and algorithms on the new track. From 004d5daecc15ea4f8da59d237e984884884c32b6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Thu, 26 Mar 2026 16:44:25 +0100 Subject: [PATCH 22/23] Clarify the Cups a little bit more --- rules_v3.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rules_v3.md b/rules_v3.md index 37f562e..280b00e 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -714,8 +714,8 @@ All teams are racing in the same Cup using Double Elimination, but the finals (w Admission to the Master Cup (with respect to the seedingresults of Time Trial) is done as follows: - Master Cup may contain up to half of the team roster. -- The first 4 teams automatically proceed. -- Up to the first half of the Time Trial leaderboard, all teams have an opportunity to either join or not. +- The first 4 teams automatically proceed and have to compete in the Master Cup. +- Up toThe other teams, placing in the firsttop half of the Time Trial leaderboard, all teams have an opportunity to either join Master Cup or not. - The organizers MAY allow to fill the rest of the Master Cup by teams that placed top 3 in the last 3 years (1100 days). If the racing track is changed for the Master Cup, the teams are given an extra practice session to test their car and algorithms on the new track. From 9398898af2d557de46374897a939e3143bb22711 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= Date: Mon, 13 Apr 2026 11:05:34 +0200 Subject: [PATCH 23/23] Add the estimated length of the demonstration video --- rules_v3.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rules_v3.md b/rules_v3.md index 280b00e..30d4c47 100644 --- a/rules_v3.md +++ b/rules_v3.md @@ -359,7 +359,7 @@ The competition is composed of: - Registrations received after the deadline MAY not be accepted. - Registration is confirmed by the competition organizers after completing all required steps. These are, but not limited to: - Filling out the registration form. - - Submitting a video of your car driving autonomously. + - Submitting a video of your car driving autonomously (~1 minute). - Submitting a hardware list. - The hardware list will be made publicly available for other teams after the competition. - Not submitting in time MAY void the registration.