The scoring for each challenge will be based on automatic tracked data to establish a ranking (1st to Nth position) that will measure the relative ability to accomplish each task. In each class, the team with the lowest sum of its obtained rankings will be declared the winner of the World Robotic Sailing Championship.
1. Fleet race
Your sailing boat will start from the start line, then go through three target points in turn and return to the finish line. Teams are scored based on the time between crossing the start line and crossing the finish line. The team spent the least time has the highest rank.
2. Station keeping and avoidance
The challenge is composed of part 1 and part 2. Your sailing boat should complete part 1 before it goes to the next area to complete part 2 (as shown in the figure). Part 1 and part 2 will take 5 minutes respectively, and the final results are the average of both radius.
Part 1: Sailing boats should move as close as possible to the anchoring point with a given coordinate. The average distance between the anchoring point and your sailing boat during the part 1’s 5 minutes which begins as your sailing boat is 15m from anchoring point the will be taken as the final result of this part. If the distance from the anchoring point is greater than 15 meters in more than 50% of the time, it will be considered incomplete.
Part 2: The difference between part 1 and part 2 is that the anchoring point is an entity buoy here, located in an unknown position in the area, which needs your sailing boat using visual recognition method to obtain its exact position, and the collision of the anchoring point will be punished. Likewise, if the distance from the anchoring point is greater than 15 meters in more than 50% of the time, it will be considered incomplete. And the final result of this part is the average distance between the anchoring point and your sailing boat during the part 2’s 5 minutes which will also consider the collision of the anchoring point and the formula is following.
The final result of part 2 = (The Average distance)*Sqrt(1+the Collision times)
The team achieved a lower averaged distance is higher in rank. Teams who finished both part 1 and part 2 always ranked higher than those who only finished part 1.
3. Collaborative area scanning
This is similar to last year. Your scores are determined by the number of grids your sailing boat traversed. If the grid has not been traversed by other teams, you will be given an additional reward for beginning collaboratively search this area.
The size of the competition venue is 250 * 250m, the size of the grid is 5 * 5m, and the competition will last 60 minutes. In order to achieve better cooperation, the following criteria will be adopted in this competition: The total competition time of each team is 60 minutes. All the time of autonomous sailing is counted as a valid time. If your team need suspension, the time will be suspended in the middle and the next startup after the suspension should start from the nearest startup area when the suspension occurs.
After startup, the time will continue. And there is no grid with a score near the startup area (as shown in the figure). The organizer’s API will only publish the valid trajectories of each team. The team covered more areas in the area searching has a higher rank.
4. Hide and seek
Your team will race against a friend team whose position is close to you (determined by the ranking of the first three challenges, the first and the second will compete in this challenge, the third and the fourth will compete, and so on).
Here the team that competes with you in this challenge is called the friend team.
Each team will be assigned a pair of circles (shown in grey or transparent in the figure) and start the challenge from one of the circles (grey from left and transparent from the right). The boat may choose to hide or seek, and points will be given to every successful attempt. The boat shall sail between their circles to hide and each leg of the trip worth 1 point. (Both teams get 3 points as shown in the figure). The boat can also seek the other boat by detecting the AprilTag attached to sail on the friend’s boat. Two different tags at A4 size will be attached to both sides of the sail. Detect and identify the AprilTag is a successful seek during a leg of the trip that worth 3 points. Multiple identifications within a single trip no longer add up. All teams will be ranked by the total points in this challenge.
You can download the WRSC rule pdf: WRSCrule