Traversal

Description

A crashed lander has scattered crates of supplies nearby and your rover must survey the area and identify the crates that can be salvaged. Some of the crates have working GPS transponders and others have spilled a trail of glowing debris that leads to the crate.

Requirements

1. This task takes place during night time when it is dark.
2. Rovers must travel to different locations and identify the crate of supplies left there.
   1. Crates will be marked with an Aruco marker and a human readable marker.
      1. More points will be awarded for correctly identifying the Aruco marker.
      2. The markers will be on the top surface of the crates.
      3. The markers are not illuminated.
   2. Some crates will be at GPS locations and some will need to be found with alternative wayfinding techniques.
   3. The crates may come in different sizes and shapes. They will all be on the ground.
   4. Your rover does not need to pick-up or interact with the crates other than reading the markers.
3. There are 5 locations.
4. 2 locations will have GPS coordinates.
5. 3 locations have a trail of lights leading to the crate.
   1. 1 trail of lights be in the visible spectrum and will be red in colour.
   2. 1 trail of lights be in the visible spectrum and will be blue in colour.
   3. 1 trail of lights will be in the infrared spectrum.
   4. The start location of the light trails is not provided.
   5. The length of the light trail is not known.
   6. The lights in the trail will be a maximum of 4m apart.
   7. The crate will be within 1m of the final light in the trail.
   8. The lights will be on the ground.
6. Some locations will be difficult to reach and may involve obstacle avoidance and may not be within line of sight of the antenna location.
7. The GPS coordinates will be provided during setup time. The start location is not a GPS coordinate.
8. Extra points will be awarded to teams who can reach a location autonomously.
9. To get full points for finding the crates at a location, the human readable marker or the Aruco marker must be visible on a rover camera or sensor. This should be visible to the judge at the base station to be awarded full points.
10. Some points will be awarded if the camera is manually aimed at the marker and the rover autonomously identifies the code. More points will be awarded if the rover autonomously scans for the marker and identifies the code.
    1. Full points will be awarded if the Aruco scanning and detection software is running in the background and automatically displays the correct result when the Aruco marker comes within range and frame of the camera.
11. This task has some exemptions to the intervention rules regarding the placement of the rover.
    1. For the purposes of attempting autonomous navigation, the rover may be freely placed at the start line or within 1m of a waypoint that has already been reached autonomously. The judge should be informed if you wish to attempt this. There will be no intervention penalty for this action.