Online Challenge

RCAP CoSpace Autonomous Driving Challenge Rules 2021
(Former CoSpace Grand Prix)
U12
These are the official rules for CoSpace Autonomous Driving Online Challenge 2021. This rule book isreleased by the RoboCup Asia-Pacific CoSpace Technical Committee. English rules have priority overany translations. Changes from the 2020 rules are highlighted in red.

PREFACEThe RCAP CoSpace Autonomous Driving Challenge focuses on path planning in a smart city. For thischallenge, teams are required to program autonomous vehicles to navigate through a smart city inboth real and virtual environments (CoSpace).
The CoSpace Autonomous Driving Simulator is the only official platform for the CoSpace Autonomous
Driving Challenge. This simulator allows programs to be developed using a graphical programming
interface (GUI), Python or C language. The same program for the virtual robot in the virtualenvironment can be downloaded on to a real robot in the real environment. Participating teams cancontact support@cospacerobot.org for CoSpace Auto-Driving Simulator download, help andassistance.
In the CoSpace Autonomous Driving Online Challenge 2021, students will only need to program thevirtual robot and compete in virtual environment.

Figure 1: CoSpace Autonomous Driving Challenge

www.robocupap.org

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ContentPREFACE .................................................................................................................................................. 1
CHAPTER 1: GENERAL RULES .................................................................................................................. 3
1

CoSpace Autonomous Driving Challenge (Online) Description ...................................................... 32Teams .............................................................................................................................................. 3

345

2.1.

Team ....................................................................................................................................... 3

2.2.

Responsibility .......................................................................................................................... 3

Referees .......................................................................................................................................... 4
3.1.

Digital Referee......................................................................................................................... 4

3.2.

Official ..................................................................................................................................... 4

Conflict Resolution .......................................................................................................................... 4
4.1.

Official ..................................................................................................................................... 4

4.2.

Rule Clarification ..................................................................................................................... 4Documentation ............................................................................................................................... 4
5.1.

6

PPT Presentation and Technical Demonstration Video .......................................................... 4

Code of Conduct ............................................................................................................................. 4
6.1.

Fair Play ................................................................................................................................... 4

6.2.

Penalty .................................................................................................................................... 4

6.3.

Sharing .................................................................................................................................... 5

6.4.

Spirit ........................................................................................................................................ 5

CHAPTER 2: FIELDS AND ROBOTS ........................................................................................................... 578

Virtual Field ..................................................................................................................................... 5
7.1.

VIRTUAL_WORLD Dimension .................................................................................................. 5

7.2.

VIRTUAL_WORLD Layout ........................................................................................................ 5

Virtual Robot ................................................................................................................................... 7
8.1.

VIRTUAL_ROBOT Configuration .............................................................................................. 78.2.

Robot Coding........................................................................................................................... 7

CHAPTER 3: GAMEPLAY AND JUDGING .................................................................................................. 7910Gameplay ........................................................................................................................................ 7
9.1.

Release of Task ........................................................................................................................ 79.2.

Submission of AI ...................................................................................................................... 7

9.3.

Virtual Game ........................................................................................................................... 7

9.4.

Ranking .................................................................................................................................... 8
Judging and Award ...................................................................................................................... 810.1.

Judging ................................................................................................................................ 8

10.2.

Awards ................................................................................................................................ 8Contact us: .............................................................................................................................................. 8

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CHAPTER 1: GENERAL RULES
1CoSpace Autonomous Driving Challenge (Online) Description
The RCAP CoSpace Autonomous Driving Challenge (Former CoSpace Grand Prix) focuses onpath planning in a smart city. For this challenge, teams are required to program the virtualrobot (autonomous vehicle) to navigate through a virtual smart city. The maximum stay invirtual world is 8 minutes.
Video Link: https://youtu.be/lsmGz_HAF9c

Figure 2: CoSpace Autonomous Driving Challenge (online), U122

Teams

2.1.

Team

2.1.1

A CoSpace Autonomous Driving team should consist of 1 to 2 members. Each participant can
only register for one team.

2.1.2

Each team must have a captain. The captain is responsible for communication with officials
during the game. If the team only has one member, he/she is the captain of the team.

2.1.3

Teams with all students aged 7 to 12 year old can take part in CoSpace Autonomous Driving
U12 Category. Age is as specified on 1st July in the year of the competition.

2.2.

Responsibility

2.2.1

The team members are solely responsible for▪

verifying the latest version of the rules prior to the competition. If any rule clarification isneeded, please contact the CoSpace Technical Committee.

▪

coding for the virtual robot in the virtual world.

▪

uploading the correct code to the CoSpace Challenge server.

▪

communication with CoSpace Technical Committee and Organising Committee for all
CoSpace Autonomous Driving Challenge related matters.

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3Referees

3.1.

Digital Referee

3.1.1

The virtual challenge will be judged by the CoSpace Autonomous Driving built-in refereesystem automatically.

3.2.

Official

3.2.1

Official from CoSpace Organising Committee will download the code from CoSpace server andrun the game. The official will make sure that the CoSpace Autonomous Driving Challenge
rules (Online challenge) are followed.

3.2.2

In any case, official will not stop the game unless any unforeseen situation appears. Official
will communicate with the teams to explain the action taken in case any interruption is carriedout.

4

Conflict Resolution

4.1.

Official

4.1.1

During the CoSpace Autonomous Driving challenge, the officials’ decisions are final.

4.2.

Rule Clarification

4.2.1

If necessary, a rule clarification may be made by an official from the CoSpace TechnicalCommittee and Organizing Committee, even during a tournament.

5Documentation

5.1.

PPT Presentation and Technical Demonstration Video

5.1.1

Each team is required to submit a PPT Presentation and Technical Demonstration Video prior
to the challenge day (details should announced by the Technical Committee).

6

Code of Conduct

6.1.

Fair Play

6.1.1

CoSpace Autonomous Driving Challenge is built upon the foundation of fairness, respect andfriendship.

6.1.2

Mentors (teachers, parents, chaperones, translators, and other adult members) are notallowed to be involved in the programming of students' robots or perform other assistancework.

6.2.

Penalty

6.2.1

The following are strictly prohibited.
(a) During the game, using third-party software, self-written code, or any other tools toretrieve additional system information is strictly prohibited.

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Online Challenge(b) Any other behaviours that affect the normal operation of the RCAP CoSpace Auto-Driving
Simulator, and direct or indirect control of the behaviours of the RCAP CoSpace AutoDriving Simulator, such as the scaling of the simulation window is strictly prohibited.
6.2.2

A DISQUALIFICATION from the current match can be issued at the sole discretion of theCoSpace Chief Judge and CoSpace Technical Committee if teams offend the rules 6.2.1 for thefirst time.

6.2.3

A DISQUALIFICATION from the entire competition can be issued at the sole discretion of theCoSpace Chief Judge and CoSpace Technical Committee for repeat offenders.

6.3.

Sharing

6.3.1

Teams are encouraged to share their codes and strategies with members after thecompetition.

6.3.2

Any developments may be published on the RCAP Academy Channel or CoSpaceRobot.orgafter the event.

6.3.3

RCAP CoSpace Autonomous Driving sharing furthers the mission of RoboCup Asia Pacific as an
educational initiative.

6.4.

Spirit6.4.1

It is expected that all participants (students and mentors alike) will respect the RoboCup Asia
Pacific mission.

6.4.2

It is not whether you win or lose, but how much you learn that counts!

CHAPTER 2: FIELDS AND ROBOTS
7

Virtual Field

7.1.

VIRTUAL_WORLD Dimension

7.1.1

The dimensions of VIRTUAL_WORLD will be less than 600cm x 450cm.

7.1.2

Any surface colour that does not distract the robot’s detection or movement is allowed.

7.2.

VIRTUAL_WORLD Layout

7.2.1

The VIRTUAL_WORLD may consist any of black/white guidelines, obstacles, gantries,
waypoints, detour markers, and mysterious tasks.

7.2.2Black/White Guidelines•••

There will be black line on light road or white guideline on dark road.
The black/white guideline forms a path to guide the virtual robot.
Straight sections of the black/white guideline may have gaps with at least 5 cm of straightline before each gap. The length of a gap will be no more than 20 cm.

Figure 3: Black / white guideline
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7.2.3

Obstacles
The virtual obstacles can be walls, buildings, cylinders, or cubes. The size, design and colourof obstacles can be varied.

7.2.4

Gantries
Gantry is an overhead assembly on which certain signs or signals are posted. Gantry will notblock the road. The design and colour of gantries can be varied.

7.2.5

Waypoints

Figure 4: Example of a gantry

The virtual robot needs to pass all waypoints in the virtual environment. The size of waypoint
is not fixed. It is orange in colour.

Figure 5：Waypoint
7.2.6

Detour Markers
There are some colour markers in virtual VIRTUAL_WORLD to help robots to make decision atjunctions. The marker can be of any colour.

Figure 6: Detour markers
7.2.7

Termination Markers
This is the terminal point of the Black/White guideline.

Figure 7: Termination Marker
7.2.8

Finish Lines
The mission is completed when VIRTUAL_ROBOT passes the finish line. The finish line will be
indicated by the following symbols.

END
Figure 8: Finish Line

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8

Virtual Robot

8.1.

VIRTUAL_ROBOT Configuration

8.1.1

The VIRTUAL_ROBOT configuration is as follows:
LED

RGB sensor
Ultrasonic sensor
IR sensor array

Motor and wheel

Figure 9: Virtual robot
8.2.

Robot Coding

8.2.1

Teams can use GUI, Python or C to program the virtual robot to complete the task.

CHAPTER 3: GAMEPLAY AND JUDGING
9

Gameplay

9.1.

Release of Task

9.1.1

The tasks will be released to teams online. The organiser will inform teams about the detailed
arrangement prior to the game.

9.2.

Submission of AI

9.2.1

Teams must submit code to the CoSpace online server at the end of coding session. The severaccepts multiple submissions. However, only the last code submitted will be accepted. TheCoSpace online server will be closed 10 min after the end of coding session.

9.3.

Virtual Game

9.3.1

It is the teams’ responsibility to ensure that the correct code is submitted.

9.3.2

The official will download the program and upload it onto the VIRTUAL_ROBOT. The VIRTUAL
ROBOT will then be placed at the “Start” station in the VIRTUAL_WORLD.

9.3.3

VIRTUAL_ROBOT is required to pass all waypoints or gantries successfully in any order.
VIRTUAL_ROBOT does not need to stop at the waypoints.

9.3.4

The VIRTUAL_ROBOT should avoid all obstacles.

9.3.5

Teams are encouraged to make use of Detour Markers to plan the best path.

9.3.6

When VIRTUAL_ROBOT reaches the “Finish” line, the game ends.

9.3.7

The maximum time for VIRTUAL_ROBOT to stay in VIRTUAL_WORLD is 8 minutes.

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9.4.

Ranking
The teams are ranked as follows:

Situation

Rank

Tier 1• VIRTUAL_ROBOT passes allwaypoints and reaches the finishline.

• The team rank is determined by thegame time at the finish line in the
VIRTUAL_WORLD.

Tier 2• VIRTUAL_ROBOT is not able topasses all waypoints (regardlesswhether it reaches the finish line ornot)• The race time for VIRTUAL_ROBOT
to reach the last waypoint will berecorded.

10

Judging and Award

10.1.

Judging• The team rank will be determinedbased on the number of waypoints
passed followed by the game time.

10.1.1 There will be 2 round of challenges – preliminary and final.
10.1.2 Teams will be judged based on video presentation and the preliminary challenge result. Teams
have passed the assessment criteria will enter the finals.
10.2.

Awards

10.2.1 The organising committee will announce the awards.

RCAP CoSpace Technical Committee

Contact us:
Rule clarification: cospace@robocupap.org
Technical support: support@CoSpaceRobot.org

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