The following is a snapshot of the current rulebook (ver. ), under development till 7/31/2006.

We are now taking comments from interested parties. To comment on the rules, please email us at .

Please keep in mind: The rules you see below are preliminary and subject to change, both quantitatively and qualitatively. Please don't hesitate to bring up any ideas - now is the time!

1. Motivation

   The remote robotic assembly competition focuses on remote collaborative operations, with the aim of investigating the line between autonomous and direct control operations.

   Given this focus, the competition will de-focus the relatively straight forward (though by no means trivial) task of mechanical and electrical design, and concentrate on the higher level control.

   The competition will define a robotic task that:
   

   • Is only practically feasible through the use of several collaborating robots.
     
   • Is relatively easily achieved using direct remote control.
     
   • Can be achieved using standard off-the-shelf robotics and R/C components.
     

   
   The task will be performed from a remote location using a time-delayed communication link. This mode of operation will make direct remote-control of the agents impractical, but still allow high level supervisory control of the assembly operation.

   The task is defined functionally so that determining success is determined more easily.

   Some of the cooperative skills we want to see developed are:

   • Physical handling of a single large object with several small agents.
   • Handoff of objects between agents.
   • Autonomous (adaptive) optimization of logistics in a construction site.
   • Supervision and verification in a multi-agent environment.

   The rules will steer the competitors towards addressing this issues using the following techniques:

   • Having a large number of atomic independent tasks will make use of multiple robots more efficient.
   • A mass or size limit will prevent the robots from handling the construction components alone.
   • The terrain will be such that handing construction components by a single robot will be difficult.

2. Task definition
   1. In order to win the challenge, the teams need to assemble a pipeline between a "resource generator" simulator and a "storage tank" simulator, and transfer a quantity of fluid from the generator to the tank, until the tank indicates it is full.
   2. The task must be completed within 23 hours. 23-hour cycles begin at 00:00 GMT.
   3. The task must be accomplished through remote control from a remote location through a communication link provided by us.

3. Environment and scouting
   1. The competition will be held in an indoor arena, large enough not to be a limiting factor.
   2. The terrain will undulate with an amplitude in the order of 1 m.
   3. The arena will have obstacles such as boulder fields, canyons, or sand traps.
   4. The teams can (and should) register to send scouting missions ahead of full assembly missions. The scouting missions serve to gather information about the environment and to test the performance of the robots.
   5. Lighter than (Earth) air scouts are allowed.
   6. We will provide general information about the environment, including overhead photography.
   7. Information learned about the environment through scouting is the team's property.

4. Communication
   1. All communication with the equipment in the arena will be through a wireless Ethernet channel and the UDP internet protocol.
   2. A 20 minute delay will be introduced at the UDP level in each direction.
   3. Access to the communication link will be through a public internet VPN.
   4. Total bandwidth will be approximately 1 MPS
   5. Other than errors introduced by the internet connection, we will not introduce intentional communication errors.
   6. The teams can send us a communication hub to test compatibility with the wireless Ethernet link.

5. Resource Generator
   1. The resource generator is represented by a full 500-liter water tank, which is pre-positioned in the arena on high ground.
   2. The tank has an outlet at its bottom, with a manual quarter-turn valve.

6. Storage Tank
   1. The storage tank is represented by a large shallow empty tub, capable of holding 500 liters. (1 m x 1 m x 0.5 m).
   2. The empty tank starts out positioned near the full tank, but has to be moved to a location at least 25 m away.
   3. The tank needs to be leveled so it can hold the incoming water.
   4. The empty tank, including leveling feet weigh 50 kg.
   5. The storage tank reads "full" when it is level and contains 495 liters of water.

7. Pipeline
   1. The pipeline is constructed from standard pipe components - straight pipes and joints.
   2. The mating scheme is a standard quick-disconnect hookup (e.g. McMaster #6534K49 and matching parts), rigidly mounted to the pipes.
   3. The straight pipes are 1-4 m long.
   4. The pipes are white and their ends are marked with black concentric rings (TBD).
   5. All pipes will start out in documented locations on a well-defined storage rack (TBD)

8. Lander and Robots
   1. The team's assembly robots must arrive packaged in a 0.5 m x 0.5m x 0.5 m "lander" weighing less than 50 kg.
   2. The lander must be shippable by commercial cargo carriers.
   3. The base of the lander must be movable by a forklift.
   4. Spaceward will place the lander, right side up, tilted no more than 20 degrees, 5 m away from the resource generator.
   5. The robots must be able to egress the lander autonomously.
   6. The lander should have a standard grounded North American 110V power cord which we will connect to a 15 Amp circuit 8 hours before the mission begins.
   7. The lander should have a master-on switch which we will flip to the "on" position 5 minutes before the beginning of the mission.

9. Power
   1. The lander will be left connected to the power supply throughout the mission, and so can be used for charging.
   2. Equipment must not be active while being charged.
   3. (interface to be defined)

10. Registration, prizes, procedures
    1. Teams can register to attempt the challenge at any date. Registration must happen at least 30 days and not more than 180 days in advance of the attempt date.
    2. Payment is made per registration. $750 per scouting mission, $1500 per assembly mission.
    3. Once a team registers, the registration date becomes public knowledge.
    4. Once registered, the attempt date can be moved to an earlier date, but not to a later one. This will function as a public auction on how soon teams will attempt the prize.
    5. Teams are allowed to be registered for up to 3 attempts at any given time, though no less than 30 days apart.
    6. The team's payload must arrive at the arena 24-96 hours in advance of the registration date.
    7. The team must arrange for return shipping, including crating. The return crate can arrive together with the lander.
    8. Once the task is achieved, registration closes, but all registered teams can still attempt it.
    9. Once no more teams are scheduled to compete, the prize purse is awarded as follows:
       •  If only one team achieved the task, it receives the entire prize purse.
       •  If two teams achieved the task, they receive 2/3 and 1/3 of the prize purse, in order of achievement.
       •  If three or more teams achieved the task, the first three receive 4/7, 2/7, and 1/7 of the prize purse, in order of achievement.