RCAP CoSpace Rescue Rules 2020
Exclusive for Virtual RCAP 2020 Challenge(CoSpace Rescue, Category U19)

These are the official rules for Virtual RoboCup Asia-Pacific (VRCAP) CoSpace Rescue Challenge 2020.
They are released by the RoboCup Asia Pacific CoSpace Rescue Technical Committee. The English rules
have priority over any translations. Changes from the 2019 rules are highlighted in red.

PREFACEIn RCAP CoSpace Rescue Challenge, teams have to develop and program appropriate strategies forautonomous robots to navigate through the competition environment to collect objects. In the Virtual
RCAP CoSpace Rescue Challenge, students will only program the virtual robot and compete invirtual environment.
The RCAP CoSpace Rescue Simulator is the only official platform for this sub-league. The simulator
allows user to program robots using a graphical programming interface or C language. Participation
teams can contact support@cospacerobot.org for RCAP CoSpace Rescue Simulator download, help
and assistance.

Category U19, World 1

Category U19, World 2
Figure 1: CoSpace Rescue Challenge

Virtual RCAP CoSpace Rescue Rules 2020, Category U19. V2Page 1

Contents

PREFACE ........................................................................................................................................... 1
1

2

3

4

5

6

7

Team ......................................................................................................................................... 4
1.1.

Team Members ................................................................................................................ 4

1.2.

Responsibility ................................................................................................................... 4

CoSpace Rescue Challenge (VRCAP Version) Description ...................................................... 4
2.1

Game process ................................................................................................................... 4

2.2

VIRTUAL_WORLD ............................................................................................................. 4

2.3

Competition Setup ........................................................................................................... 5

Arena ........................................................................................................................................ 5
3.1

Dimensions ....................................................................................................................... 5

3.2

Floor .................................................................................................................................. 5

3.3

Boundary .......................................................................................................................... 5WORLD_1 and WORLD_2 Layout ............................................................................................ 6
4.1

Markers ............................................................................................................................ 6

4.2

Special zones .................................................................................................................... 6

4.3

Obstacles .......................................................................................................................... 6

4.4

Traps ................................................................................................................................. 6

4.5

Object Collection Boxes ................................................................................................... 7

4.6

Robot Coordinates (U19 Group –WORLD_2 Only).......................................................... 7

4.7

Swamplands (U19 Group –WORLD_2 Only).................................................................... 7

4.8

Signal Block Zone (U19 Group – WORLD_2 Only) ........................................................... 8

Objects ..................................................................................................................................... 8
5.1

Basic Objects .................................................................................................................... 8

5.2

SUPER and SUPER+ Objects (U19 Groups – VIRTUAL_WORLD Only) ............................. 8

Robot ........................................................................................................................................ 9
6.1

VIRTUAL_ROBOT Configuration ...................................................................................... 9

6.2

ROBOT Control ................................................................................................................. 9

6.3

Lighting ........................................................................................................................... 10

Gameplay ............................................................................................................................... 10
7.1

Pre-setup ........................................................................................................................ 10

7.2

Game Procedure ............................................................................................................ 10

7.3

Scoring ............................................................................................................................ 10

7.4

Human Interference ....................................................................................................... 12

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7.5

Relocation....................................................................................................................... 12

7.6

Penalty ............................................................................................................................ 12

7.7Interruption of Game ..................................................................................................... 128

Conflict Resolution................................................................................................................. 13
8.1

Referee ........................................................................................................................... 13

8.2

Rule Clarification ............................................................................................................ 13

8.3

Special Circumstances .................................................................................................... 13

9

Documentation ...................................................................................................................... 13
9.1

Team Description Paper (TDP), PPT Presentation and Technical Demonstration Video
13

10

Judging................................................................................................................................ 1311Awards................................................................................................................................ 13

12

Code of Conduct................................................................................................................. 14

12.1

Fair Play .......................................................................................................................... 14

12.2

Sharing ............................................................................................................................ 14

12.3

Spirit ............................................................................................................................... 14

13

APPENDIX A: Competition Setup....................................................................................... 15

13.1

REAL_WORLD ................................................................................................................. 15

13.2 VIRTUAL_WORLD (U19 Group) ......................................................................................... 15
14

APPENDIX C: List of Objects ............................................................................................... 16

14.1

U19 Group ...................................................................................................................... 16

15

APPENDIX D........................................................................................................................ 17

16

APPENDIX E ........................................................................................................................ 18

Virtual RCAP CoSpace Rescue Rules 2020, Category U19. V2Page 3

1

Team

1.1.

Team Members

1.1.1

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

1.1.2

All team members must be at the right age for the respective age group.
•

U19 group: Teams with all student members aged 13 to 19 year old can participate in thiscategory. If a team has mixed ages (with both U12 and U19 members), they will beallowed to compete in U19 category.

Age is specified as on 1st July in the year of the competition.
1.1.3

Every team member need to carry out a technical role for the team (strategy planning,
programming, etc.), which should be identified at the registration. Each member will need to
explain his/her technical role and should be prepared to answer questions on the technicalaspects of their involvement in preparing the CoSpace Rescue Challenge.

1.1.4

Teams should be responsible for checking updated information (schedules, meetings,
announcements, etc.) during the event.

1.2.

Responsibility

1.2.1

The team leader is solely responsible for▪
▪
▪
▪

verifying the latest version of the rules prior to the competition. If any rule clarificationis needed, please contact the RCAP CoSpace Technical Committee.
coding for the virtual robot in the virtual world.
uploading the correct code to the CoSpace Challenge server.
communication with RCAP CoSpace Technical Committee and Organising Committee
for all VRCAP CoSpace Rescue Challenge related matters.

2

CoSpace Rescue Challenge (VRCAP Version) Description

2.1

Game process

2.1.1

For RCAP CoSpace Rescue U19 groups (VRCAP Version), students are only required code avirtual robot, and finally take part in the CoSpace Rescue Challenge. The game will lastfor 6 minutes and it will only take place in virtual world 2. It will be a singles game orcounteract game.

2.2

VIRTUAL_WORLD

2.2.1

In VIRTUAL_WORLD, VIRTUAL_ROBOT searches for 5 types of objects, RED, CYAN, BLACK,SUPER and SUPER+ objects. VIRTUAL_ROBOT has to collect the objects and deposit them inthe collection box to receive points. It cannot collect more than 6 objects at any one time
without depositing them in the collection box.

2.2.2

SUPER or SUPER+ objects will be created upon every set of RED, CYAN and BLACK objects
collected and deposited successfully in one single trip to the collection box in World 2 (referto section 5.2.1).

Virtual RCAP CoSpace Rescue Rules 2020, Category U19. V2Page 42.3

Competition Setup

2.3.1

A Team must be able to program VIRTUAL_ROBOT.

2.3.2

Virtual robots must be controlled autonomously.

2.3.3

The use of a remote control to manually control virtual/real robots is not allowed.

3

Arena

3.1

Dimensions

3.1.1

The dimensions of WORLD_1 are 180cm x 240cm. The dimensions of WORLD_2 are 270cm x
360cm. The game will last for 6 minutes. Teams are only required to program the virtual
robot in virtual world 2.

3.2

Floor

3.2.1

VIRTUAL_WORLD•The VIRTUAL_WORLD is a 3D simulated environment. The floor is not restricted to whiteor light colour. However, the colour objects, collection box, special zones, etc., can still be
distinguished.

3.3

Boundary

3.3.1

VIRTUAL_WORLD•U19 group: There will be no boundary for VIRTUAL_WORLD. Teams are required to keep
the robot within the virtual arena based on the dimensions given. There will be anindication of the boundary for audience.

Appendix A shows the sample layout of WORLD_1 and WORLD_2.

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4WORLD_1 and WORLD_2 Layout
Both WORLD_1 and WORLD_2 contains various elements as follows:

4.1

Markers

4.1.1

There may be some markers in the virtual/real worlds. The makers can be used to help thevirtual/real robot for its localization, guidance, etc. The minimum size of the marker is 2cm x
2cm. The colour and shape of the marker is not fixed.

4.2

Special zones

4.2.1

Certain areas in the virtual/real world are designated as special zones. RED, CYAN and BLACK
objects collected in these areas are worth double points. The special zone is blue in colour asshown in figure 3. The special zones have a minimum size of 30cm x 30cm. The shape of thespecial zone is not fixed.

> 30cm> 30cm> 30cmFigure 3: Sample of Special Zones

4.3

Obstacles

4.3.1

Obstacles found in real and virtual worlds can be of any size, any shape with the minimum
dimensions of 10cm x10cm.

4.4

Traps

4.4.1

Traps are surrounded by a yellow boundary as shown in figure 4. The minimum size of the trap
is 10cm x 10cm. The traps can be any colour. The shape of traps is not fixed. If a robot goesover a trap it will lose any objects it is currently carrying.
10  1cm
Trap> 30cm>= 10cm

Warning(not part of trap)> 30cmFigure 4: Sample of Traps

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4.5

Object Collection Boxes

4.5.1

Figure 5 shows the object collection box. The collection box is ORANGE in colour. The
dimensions can be (30 ± 3) cm x (30 ± 3) cm. The collection box can be any shape.

27 ~ 33cm

27 ~ 33 cm

Figure 5: Sample of object collection boxes

4.6

Robot Coordinates (U19 Group –WORLD_2 Only)

4.6.1

For the U19 group, the CoSpace Server will send the robot its own coordinates while the robot
is searching in the WORLD_2. Figure 6 shows the virtual robot is at position (180cm, 197cm).

(cm)

Display in CsBot Simulator(cm)

Figure 6: X & Y coordinate system for robot in VIRTUAL_WORLD

4.7

Swamplands (U19 Group –WORLD_2 Only)

4.7.1

Certain areas in the WORLD_2 are designated as swamplands. The swampland is grey color as
shown in figure 7. The swampland can be any size bigger than 30cm x 30cm. The shape of theswamplands is not fixed> 30cm> 30cmFigure 7: Sample of Swamplands

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4.8

Signal Block Zone (U19 Group – WORLD_2 Only)

4.8.1

In the WORLD_2 for U19 group, there are Signal Block Zones. When a robot enters the signal
block zone, its coordinates information will be blocked, meaning the robot will receive
PositionX = 0 and PositionY = 0.

4.8.2

The Signal Block Zones are randomly created by the CoSpace server. They will be generated
once the field is launched. The location of the Signal Block Zones will not be changed
throughout the entire game period.

4.8.3

There are 3 Signal Block Zones in the WORLD_2.

5

Objects

5.1

Basic Objects

5.1.1

There are THREE types of objects, RED, CYAN, and BLACK located randomly throughout thecourse. The thickness of each object is less than 2mm. Each type of objects worth different
value (refer to section 7.3.2).

5.1.2

Colour, size and shape of the objects
Colour, size and shape of the objects will be different for FirstSteps, U12 and U19 groups.
Appendix C shows the details.

5.2

SUPER and SUPER+ Objects (U19 Groups – VIRTUAL_WORLD Only)

5.2.1

Creation of SUPER and SUPER+ objects(a) ONE SUPER Object will be generated for every ONE set of RED, CYAN and BLACK objects
collected and deposited successfully (refer to section 7.3.3) in the VIRTUAL_WORLD.
(b) ONE SUPER+ Object will be generated for every TWO sets of RED, CYAN and BLACK objects
collected and deposited successfully (refer to section 7.3.3) in the VIRTUAL_WORLD.
(c) The SUPER or SUPER+ objects generated by BLUE team can only be collected by the BLUE
team itself. The SUPER or SUPER+ objects generated by RED team can only be collectedby the RED team itself.

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5.2.2Size, colour and shape of SUPER and SUPER+ objects
The SUPER and SUPER+ objects are about 5cm in diameter. They are circular in shape andpurple in colour.

5 cm

5 cm

SUPER Object by Blue TeamSUPER Object by Red Team

5 cm

5 cm

SUPER+ Object by Blue TeamSUPER+ Object by Red Team

Figure 8: SUPER and SUPER+ objects

5.2.3

Placement of SUPER and SUPER+ objects (U19 Groups)
The CoSpace server will send the coordinates (X, Y) of the SUPER or SUPER+ objects to therespective team upon SUPER or SUPER+ objects’ creation.
The details, such as SUPER and SUPER+ objects notification and the coordinates, are describedin the CoSpace Rescue Simulator user guide.

6

Robot

6.1

VIRTUAL_ROBOT Configuration

6.1.1. The RCAP CoSpace Rescue Challenge uses a Standard Platform. The Virtual_ROBOT has thefollowing configuration:•

3 ultrasonic sensors•

1 gyro sensor•

2 RGB sensors•

2 DC motors•

1 LED for status indication

Ultrasonic sensor
RGB sensor
Gyro sensor
Motor
LED
Figure 9: ROBOT configuration

6.2

ROBOT Control

6.2.1

ROBOT must be controlled autonomously. The use of a remote control, manual control, or
passing information (by sensors, cables, wirelessly, etc.) to the robot is not allowed.

6.2.2

Any pre-mapped type of dead reckoning strategy (movements predefined based on known
locations or placement of features in the field) is prohibited.

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6.3

Lighting

6.3.1

The lighting condition for the virtual worlds could be varied. Teams must be able to perform
calibration in order to complete the mission.

7

Gameplay

7.1

Pre-setup

7.1.1

The layout of the VIRTUAL_WORLD will be released to teams prior to the tournament. The
organiser will announce the details.

7.2

Game Procedure

7.2.1

Teams are only required to program the virtual robot in virtual world 2. Teams must submit
code to the CoSpace online server at the end of coding session. Multiple submission is allowed
but only the last submission will be used in the game.

7.2.2

Start of Play• It is the participant’s responsibility to ensure that the correct program is uploaded.
• The official will download the program submitted, upload the programs onto the
VIRTUAL_ROBOT, place it in the initial position in the starting point in the virtual worldand start the virtual game.

7.3

Scoring

7.3.1

A team will be given 100 points at the beginning of each game.

7.3.2

Collecting objects
A team will gain points by collecting the objects.
To indicate that a robot has collected an object, it must stop and flash the LED for 3 seconds
when any one of the color sensor has detected the object.
Object Type

Points in Real World

Points in Virtual World

Regular
Zone

Special
Zone

Regular
Zone

Special
Zone

RED

20

40

10

20

CYAN

30

60

15

30

BLACK

40

80

20

40

SUPER

NA

NA

90

90

+

NA

NA

180

180

SUPER

(a) A robot cannot collect more than 6 objects at any one time without unloading ordepository them in the collection box.
(b) Objects in the virtual world 2 will disappear after they are collected.
7.3.3

Depositing objects

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When a robot deposits objects successfully, the points of the objects deposited will be
doubled.
“Robot deposits objects successful” means:o

A robot must stop inside the collection box with the LED steady ON for 3 seconds toindicate the depositing process;A robot is only considered to be in the collection box when the colour sensor detects
the collection box (the colour sensor is in the collection box).

o
7.3.4

The robot will exit the collection box autonomously after deposition (the colour
sensor is out of the collection box).

Falling into a Trap
If a robot falls into a trap (refer to section 4.4), all objects that have been collected but not yetplaced in the object collection box (refer to section 4.5) will disappear. Therefore, the points
awarded for those objects collected will be deducted.
A robot is considered to be in the trap if any one of the robot’s color sensor has detected the
trap.

7.3.5

Falling into a Swampland (U19 Group –WORLD_2 Only)
If a robot falls into a swampland (refer to section 4.7), the robot’s speed will be reduced by
80% by the CoSpace server.
A virtual/real robot is considered to be in a swampland if any one of the color sensor has
detected the swampland.

7.3.8

Falling into a Signal Block Zone (U19 Group –WORLD_2 Only)
If a robot falls into a signal block zone, no points will be deducted. However, the robot’s
position info (refer to 4.8) will be lost.
A virtual robot is considered to be in a signal block zone if the centre of the robot is within thezone. The centre coordinates is provided to teams by the CoSpace server.

7.3.9

Out of Boundary (U19 Group –WORLD_2 Only)
If a robot is out of the boundary, it will be placed inside VIRTUAL_WORLD by the CoSpace
server automatically. No points will be deducted. However, it will be frozen for 10 seconds.
A virtual robot is considered out of boundary if the centre of the robot is outside the
VIRTUAL_WORLD.

7.3.10 Game Points
After each match, following GAME POINTS will be given accordingly.
Game

GAME POINTS

Win

3

Tie

1

Loss

0

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7.4

Human Interference

7.4.1

Except for a lack of progress, human interference (e.g. re-locate a robot to any reset point)
during the game is not allowed unless permitted by the referee. A violation of the rules may
be penalized by disqualification from the tournament, the round or may result in loss of points
at the discretion of the referee, officials, organizing committee or general chairs.

7.5

Relocation

7.5.1

In virtual game, the team captain can request to relocate the VIRTUAL_ROBOT to a different
location for the following case:(a) VIRTUAL_ROBOT is looping(b) VIRTUAL_ROBOT is not performing well.

Upon team’s request, the referee will call “RELOCATE” and relocate the VIRTUAL_ROBOT to adifferent location but close to where it was with different orientation. However, the robot will
be frozen for 10 seconds after relocation. Each team can only call relocation up to 3 times in
VIRTUAL_WORLD in each game. The referee will keep track of the number of relocations
requested.
7.5.2

In virtual game, when a virtual robot is stuck for 10 seconds, the robot will be relocated to adifferent location but close to where it was with different orientation by the CoSpace server
automatically. After relocation, the VIRTUAL_ROBOT will not be frozen for another 10 seconds.
The relocation by CoSpace server will not be recorded as in section 7.5.1.

7.5.3

A team may decide to stop a round early if the lack of progress cannot be resolved within thefirst 5 minutes. In this case, the team captain must indicate to the referee the team's desire
to terminate the game. The team will be awarded all points achieved.

7.6

Penalty

7.6.1

The following are strictly prohibited. Offenders will be disqualified from the VRCAP 2020.
••

You are not allowed to use any third-party software or self-written code to capture
the screenshot image to assist the virtual robot during the game.
Any other behaviours that affects the normal operation of the RCAP CoSpace Rescue
Simulator, and direct or indirect control of the behaviours of the RCAP CoSpace
Rescue Simulator, such as the scaling of the simulation window, is not allowed.

7.6.2

It is compulsory for teams to specify the team name in virtual games. Teams are not allowed
to enter finals if they fail to do so.

7.6.3

If a virtual robot is hit/attacked by another virtual robot, the attacking robot will be separated
from the attacked robot and repositioned at the same location with different orientation (ifthere is collision), and be frozen for 10 seconds. There will be no point deduction.

7.6.4

If two virtual robots bump into each other, both robots will be separated from each otherand repositioned at the same location with different orientation (if there is collision). Bothrobots will be frozen for 10 seconds. There will be no point deduction.

7.7

Interruption of Game

7.7.1

In principle, a game will not be stopped during gameplay.

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7.7.2

The referee can end a game when all objects have been collected by the robots.

7.7.3

The referee can pause a game when the game coordinator/referee needs to discuss anissue/problem with the OC/TC. The game will be called “time-out” in this case.

7.7.4

Teams are not allowed to quit a game 5 minutes after the game started.

8

Conflict Resolution

8.1

Referee

8.1.1

During a gameplay, the referee’s decisions are final.

8.2

Rule Clarification

8.2.1

If necessary even during a tournament, a rule clarification may be made by members of the
RCAP CoSpace Rescue Technical Committee and Organizing Committee.

8.3

Special Circumstances

8.3.1

In special circumstances, such as the occurrence of unforeseen problems or malfunction of arobot, rules may be modified by the RCAP CoSpace Rescue Organizing Committee Chair in
conjunction with available Technical Committee and Organizing Committee members, evenduring a tournament if necessary.

8.3.2

If any of the team captains/members/mentors do not show up to the team meetings to
discuss the problems and the resulting rule modifications described at 8.3.1, it will beconsidered as an endorsement.

9

Documentation

9.1

Team Description Paper (TDP), PPT Presentation and Technical Demonstration Video

9.1.1

Each team is required to submit a TDP, PPT Presentation and Technical Demonstration
Video prior to the challenge day (details should announced by the VRCAP CoSpace
Challenge Organizing Committee). Please refer to Appendix_D & E for the detailed
guidelines.

10

Judging

10.1.1 There will be 2 round of challenges – Preliminary round and the final.
10.1.2 Teams will be judged based on TDP, video presentation and the prelim result. Teams havepassed the assessment criteria will enter the finals.

11

AwardsThe VRCAP organising committee will announce the awards.
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12

Code of Conduct

12.1

Fair Play

12.1.1 CoSpace Rescue Challenge is built upon the foundation of fairness, respect and friendship.
12.1.2 Mentors (teachers, parents, chaperones, translators, and other adult members) are notallowed to be involved in the programming of students' robots or perform otherassistance work.
12.2

Sharing

12.2.1 Teams are encouraged to share their programming and strategies with members after thecompetition.
12.2.2 Any developments may be published on the CoSpace Robot website after the event.
12.2.3 RCAP CoSpace Rescue sharing furthers the mission of RoboCup Asia Pacific as an
educational initiative.
12.3

Spirit12.3.1 It is expected that all participants (students and mentors alike) will respect the RoboCup
Asia Pacific mission.
12.3.2 It is not whether you win or lose, but how much you learn that counts!

Rule clarification: cospace@robocupap.oeg
Technical support: support@CoSpaceRobot.org

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13

APPENDIX A: Competition Setup

13.1

REAL_WORLD
Yellow Warning (width: 10cm)
Real Field
Maker

Gap: 10cm, any colour

Trap
Wall: Height: 20cm
180 cm240 cm13.2 VIRTUAL_WORLD (U19 Group)

Indication ofboundary
for audience

270 cm360 cm•The coordinates of virtual robots, special zones, collection boxes, traps, signal block zones
will be provided to teams.

•

The coordinates of SUPER and SUPER+ objects will be sent to team that generates theobjects.

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14

APPENDIX C: List of Objects

14.1

U19 Group•

Shape: The shape of the objects will be any one of the following. There might be different
shapes of objects in a map.

•

Size: the inscribed circle for the 3 types object are:

6 cm

•

5 cm

4 cm

Colour: the colour of the objects will be in the RED/ CYAN categories or BLACK.

RED

Virtual RCAP CoSpace Rescue Rules 2020, Category U19. V2

CYAN

BLACK

Page 16

15

APPENDIX D
Virtual RoboCup Asia-Pacific 2020

PPT Presentation and Technical Demonstration Video
Guideline for PPT preparation:
1. Title/Identificationo Team name, country, sub-league.
o Team photos
2. Abstracto A concise summary of the entire project. The abstract should state− the problem(s) you investigated− the methods and key result− the conclusion
3. Strategy
o Description of different types of the algorithms can be used to solve the problem
o Which AI algorithm to be selected and used? Include flowcharts or pseudo code
if appropriate.
o Innovative ideas involved
4. Discussion and Conclusiono Teams should include the result when the selected AI algorithm is adopted.
o How the result is improved.
5. Photos/Imageso Teams should include images and graphics of the team’s robots. Images andgraphics should be original or should be available for non-commercial reuse withmodification as per the creative commons license(http://creativecommons.org/).
6. Sharingo Share your team’s learning experience
7. Additional Informationo You may like to include all achievement in RoboCup / RCAP or other robotics
competition achievement

Video Guideline
Each team should submit 1 video. The video is focusing on presentation and sharing.

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16

APPENDIX E

Virtual RoboCup Asia-Pacific 2020

Team Description Paper(Cover Page)

League Name:
Age Group:
Team Name:Team Website:
Participants Name:

Mentor Name:
Institution:
Region:Contact Person:
Contact Email:
Date:

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Virtual RoboCup Asia-Pacific 2020

Team Description Paper
League Name
Student 1, Student 2, …
Team Name, Institution, Country

1. Abstract
2. Introduction
a. Team Backgroundb. Team website (if you have one)c. Team photo (optional)d. Provide any video link (URL) related to your team and challenge if any(optional)e. Previous RoboCup or other robotics experience
3. Strategy
a. Description of your AI strategy.
b. Include flowcharts or pseudo code if appropriatec. Describe and highlight innovative algorithms in any
4. Track Record
a. RoboCup Achievementb. Other robotics competition achievement
5. Discussion and Conclusiona. Share your team’s learning experienceb. Highlight collaboration with other teams if any
c. Description of future work
6. Acknowledgements
7. References

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

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