imav2016 competition rules 0.3

8/18/2019 IMAV2016 Competition Rules 0.3

http://slidepdf.com/reader/full/imav2016-competition-rules-03 1/23

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;<'<!< $0220+1 .6.,.1/ !K GAL.+BB <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< )

;<'<'< $0220+1 .6.,.1/ 'K $A--01F <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< )

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;<'<;< $0220+1 .6.,.1/ ;K MA1=01F <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< !(

)< #1=++: *+,-./0/0+1<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< !!

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)<'< *+,-./0/0+1 MAC+5/ <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< !'

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)<@<'< $0220+1 .6.,.1/ 'K R1/.: 9506=01F <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< !;

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)<@<)< $0220+1 .6.,.1/ QK W506= $A- <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< '!

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IMAV2016 is ‘search and rescue’ +1 A1 +BBX2?+:. +06 :0F< G?. 8+,-./0/0+1 20,56A/.2 A1 A880=.1/

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@< Deliver lifebuoy to the person’s vicinity<

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&B D+1.C:0.G+ 9. =./.:,01.=

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individually based on the MAV’s N.?086. BA8/+:S A5/+1+,C 6.N.6S ,0220+1 28+:.S A1= #1XAX

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8+120=.:.= 01 /?. B01A6 28+:.<

LB ;:6C--, 3-45.6*6*-7

LB(B "76,-C:+6*-7

LB(B(B

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! GAL. +BB B:+, A ,+N01F -6A/B+:,<

! G?. ,+N01F -6A/B+:, Y066 ,+N. 01 /?. area ‘A’ 06652/:A/.= 01 \0F5:. ;X!<

! &025A6 ,A:L.:2 Y066 9. -6A8.= +1 /?. ,+N01F -6A/B+:,<

'< \A2/ ,A--01F +B /?. A880=.1/ A:.A



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! $%&2 A:. to fly to the area ‘B’ /+ 8:.A/. A 2/0/8?.= ,A- +B /?A/ A:.A<

! T.+-6. BA66.1 01/+ /?. YA/.: ?A2 /+ 9. 0=.1/0B0.= 9C /?. 2/0/8?.= 0,AF.<

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@< >A,-601F +B YA/.: B:+, /?. A880=.1/ A:.A

!

MAV has to fly to area ‘C’ /+ 8+66.8/ YA/.: 2A,-6.2<

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PA/.: 2A,-6.2 ?AN. to be released into a water container located in ‘A’<

E< 7.60N.: 60B.95+C /+ /?. N08/0,2 01 /?. YA/.:

! 4.6.A2. A 60B.95+C /+ /?. =./.8/.= -.:2+1<

! #B /?. -.rson’s coordinate is autonomously detected during the fast mapping

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8+::.8/ ̂ +1.<

;< MA1=01F +1 /?. ,+N01F A1= :+8L01F -6A/B+:,

! The landing area is also designed in area ‘A’ in \0F5:. ;X!<

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\0F5:. ;X!K T6A11.= +5/=++: 8+,-./0/0+1 20/.< a%a 02 B+: /AL.+BB A1= 6A1=01F +1 A moving platform. ‘B’ is

for fast mapping. ‘C’ is for water sampling and lifebuoy delivery.

A B

C

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GAL01F +BB B:+, /?. ,+N01F A1= :+8L01F -6A/B+:, ;

GAL01F +BB B:+, /?. ,+N01F -6A/B+:, @

GAL01F +BB B:+, /?. 2/A/08 -6A/B+:, !

G?. /AL.+BB ,0220+1 28+:.2 Y066 9. 8+51/.= +16C Y?.1 A/ 6.A2/ +1. +B /?. ,0220+1 'S @S E ?A2

9..1 A//.,-/.=< GAL.+BB Y0/?+5/ 8+,-6./01F A1C +B /?. ,0220+1 Y066 9. 8+120=.:.= A2 01NA60=<

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8+1=0/0+12K

!< #B /?. /AL.+BB 02 8+1=58/.= +1 /?. ,+N01F -6A/B+:,S ≥ 3`

'< %/ 6.A2/ +1. ,0220+1 .6.,.1/ ?A2 9..1 28+:.=K ,A--01FS =.60N.: 60B.95+C +: YA/.:

2A,-601F< $%&2 =+01F +16C 6A1=01F +: /AL.+BB Y066 1+/ 8+120=.:.= 01 /?. 01XAX:+Y BA8/+:<

\+: .VA,-6.S A1 $%& /++LX+BB B:+, /?. ,+N01F -6A/B+:, A1= 28+:.= 2+,. -+01/2 01 /?.

$A--01F ,0220+1S 95/ =0= 1+/ 6A1= +1 /?. ,+N01F -6A/B+:,< H16C /?. /AL.+BB A1= ,A--01F Y066

9. 8+120=.:.= A2 NA60= #1XAX:+Y ,0220+1< G?. #1XAX:+Y BA8/+: Y066 9. !<' A88+:=01F /+ GA96. EX!<

LB&B&B

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G?02 ,0220+1 02 /+ =.-6+C A1 $%& 8A::C01F A 8A,.:A /+ D508L6C 25:N.C /?. A880=.1/ A:.AS 8:.A/.

A1 +N.:N0.Y ,A- +B /?. A:.A A1= 6+8A/. 01/.:.2/.= /A:F./2< G?. 25:Ney area is labeled as ‘B’ in

\0F5:. ;X! Y0/? A1 .2/0,A/.= 20^. +B 120m×120m< G?. 28+:01F +B /?02 ,0220+1 02 06652/:A/.= 01

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$A--01F ,./?+= $0220+1 28+:.

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4.A6 /0,. ,A--01FK 2/0/8?.= ,A- 02 -.:B+:,.= 01 :.A6

/0,. A1= ,A--01F :.256/ 02 60N.X2/:.A,.= 9A8L +1 /?.

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$A--01F ,./?+= %5/+1+,C 6.N.6

\566 A5/+1+,+52K /?. ,A- 02 8:.A/.= A5/+1+,+526C

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G?. ) /A:F./2 28A//.:01F 01 /?. area ‘B’ will have different shapes with A ,AV0,5, 20^. +B !

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should be delivered to T6’s vicinity in mission 3, which is to be covered in Section ;<'<@<

G?:.. Y?0/. 2D5A:.X2?A-. ,A:L.:2 Y066 A62+ 9. -6A8.= 01 /?. area ‘B’, whose GPS coordinates

Y066 9. F0N.1< G?.2. /?:.. ,A:L.:2 2.:N. A2 :.B.:.18. dT> ,A:L.:2 B+: /.A,2 Y?+ YA1/ /+

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given to mission 3 ‘Lifebuoy delivery’.

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GA96. ;XEK H5/=++: 60B.95+C =.60N.:C ,0220+1

M0B.95+C =.60N.:C ^+1. $0220+1 28+:.

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4.6.A2. /?. 60B.95+C /+ /?. ! , ^+1. ;

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PA/.: >A,-601F $0220+1 28+:. I4J

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A:. A66+Y.= /+ =+ .0/?.: +1. +B /?. /Y+ +: 9+/?<

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YA/.:S 95/ /?. A5/+1+,C 6.N.6 Y066 9. ABB.8/.=<

The ‘water releasing’ sub mission will be scored only when the water is released into the

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28+:. -+01/2 01 /?02 ,0220+1 .6.,.1/<

$0220+1 28+:. B+: /?02 .6.,.1/ Y066 9. 8A6856A/.= A2 B+66+Y2K

GA96. ;XUK H5/=++: 6A1=01F ,0220+1

MA1=01F ,./?+= $0220+1 28+:.

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MA1= +1 /?. 2/A/08 -6A/B+:, '

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WHGc +B /?. B+66+Y01F /Y+ 8+1=0/0+12K

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8?A66.1F. A2 2?+Y1 01 /?. GA96. )X!<

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2.6.8/.= .1/:A18. -+01/ I$0220+1 .6.,.1/ ! A1= 'J

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Safety net

Mission

Zone

Operating

Zone

13 m 13 m

13 m 5 m

10 m

O eratin Zone

T a b l e

Moving

Platform

D i r e c t i o n o f

m o v e m e n t

T r a v e l d i s t a n c e : 8 m



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$0220+1 28+:. B+: /?02 .6.,.1/ Y066 +16C 9. 8+120=.:.= 0B /?. $%& 8+,-6./.= A/ 6.A2/ ! ,0220+1

.6.,.1/2 A,+1F ,0220+1 .6.,.1/ ' /+ U AB/.: /?. /AL.+BB<

G?.:. Y066 9. [H #1XAX:+Y BA8/+: I 1J 01 /?02 ,0220+1 .6.,.1/<

$0220+1 28+:. B+: /?02 .6.,.1/ Y066 9. 8A6856A/.= A2 B+66+Y2K

GA96. )X'K #1=++: /AL.+BB ,0220+1

GAL.+BB ,./?+= $0220+1 28+:.

IJ

GAL01FX+BB B:+, /?. ,+N01F -6A/B+:, 01 H_< 70,.120+1

+B /?. ,+N01F -6A/B+:, 8A1 9. +9/A01.= 01 \0F5:. ;<@

A1= ;<E< $+N01F -6A/B+:, Y066 ,+N. 01 A 8+12/A1/ 2-..=

1+/ ,+:. /?A1 ' ,b2<

'

Mission Zone

(3-room building with unknown layout)

1.2 m

1 m

3 m

4.8 m

3 m

W a l l

D o o r

W i n d o

w s

2 m

2 m

1 m

1 m

Chimney



#$%& '(!) *+,-./0/0+12 3 456.2 !' 7.8.,9.: '(!;

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