Competition Rules

Indoor & Outdoor Events

V0.1 – January 2nd 2019

* Note that rules are subject to minor revisions and updates

Introduction

The indoor and outdoor competitions are set up to highlight the following points:

  • Aircraft efficiency and innovative designs
  • Light and small MAVs
  • Autonomy and image processing
  • Stability in turbulence
  • Multi-MAV cooperation

General

Australian Media and Communication Authority (ACMA) allows use of the following frequency bands:

     
     
     
     

 

Safety

To comply with Spanish Drone regulations:

  • Please see this link for more details. https://www.seguridadaerea.gob.es/lang_en/cias_empresas/trabajos/rpas/default.aspx
  • The maximum take-off weight of any MAVs must not exceed 2 kg
  • Maximum flight altitude is 400 ft (approx. 120m) Above Ground Level (AGL), however the ceiling has been reduced to comply with competition rules. This is 30 metres
  • All MAVs should stay inside the designated flight areas and below 30m. If a MAV strays outside the designated flight area, it should either land or turn back immediately inside the flight area.
  • Please ensure safe working practice while working on MAVs.
  • New paragraphs on Safety measurements are to be included here

Location

The event is held from September 30th to October 4th in Madrid, Spain. This will consist of 2 practise days, 2 competition days and 2 conference days.

Indoor Event

The indoor event will be held at the School of Industrial Engineering http://www.etsii.upm.es/ (belonging to Universidad Politécnica Madrid) in the middle of Madrid and approximately 3 km from Madrid old town.

Address:

Escuela Técnica Superior de Ingenieros Industriales

Universidad Politécnica de Madrid

Calle de José Gutiérrez Abascal, 2

Madrid, Spain

Map:   https://goo.gl/maps/2bxhJEQSiUx

 

Outdoor Event

The outdoor event will be held at Aeródromo Valle de La Laguna, south east of Madrid and less than 50 minutes drive from the main venue. Buses will be provided to and from the Indoors and Conference venue.

Address:

Aeródromo Valle de La Laguna

Carretera M-316 (Valdelaguna-Chinchón)

Km 3,2, Valdelaguna, Madrid, España

Map: https://goo.gl/maps/N8HFQk4auty

 

 

 

Scoring

The final score will depend on the success of each mission element (E = mission element score), the level of autonomy for each mission element (A​), the mass factor (M​), the power factor (W),  the “in-a-row” factor (I​), the swarm factor (S), and a presentation made by the team during the mission (P​). Awards will be determined using the following formula:

Where,

Indoors :

Outdoors :

 

Where,

P = Presentation (from 1 to 1.1)

E = Element score1

I = In-a-row Factor

A = Autonomy Level

M = Mass Factor

W = Power Factor

S = Swarm Factor

 

1Note that Element scoring is defined under the specific event information.

Presentation​ ​factor​ ​(P)

The team is rewarded when a team member presents the tasks and actions currently performed. The goal is to make the demonstration of each team more lively and accessible for the public. A video feedback of the ground station is also possible and is strongly recommended (standard VGA cable or analog video ).

The presentation factor will be determined according to the description of:

  • The MAV system and its design
  • The initial plan to perform the mission elements
  • The tasks actually performed
  • The level of autonomy of each task / MAV

 

Presentation factor = Is an additional 10% of the final score (P from 1 to 1.1)

In-a-Row Factor (I)

The in-a-row factor allows a multiplier for a single MAV that is able to complete multiple elements in succession (one after another). The multiplier starts counting after the first mission element is completed (take-off and landing  are not included). In-a-row can only be countered from the take off pad/zone.

 

Mission Elements Done In-a-Row I Multiplier
1 1.0
2 1.1      suggested  1.33
3 1.3       suggested  1.66
4 1.6       suggested  2
5 1.8       suggested  2.33
6 2.0       suggested  2.66
7(max. available) 2.2      suggested  3

 

Swarm  Factor (S)

The swarm factor allows a multiplier for using multiple MAVs simultaneously.

Number on MAVs I Multiplier
1 1.0
2 1.25       suggested  1.5
3 (max. available) 1.5         suggested  2

 

Level of Autonomy (A)

Level of Autonomy Factor
Video based control: control of the MAV through an FPV system. 1
Autonomous target detection: the navigation is manual, however the detection and processing of targets is automatic 4
Autonomous flight control: the navigation is completely autonomous, however the operator is controlling the mission and payload 5
Fully autonomous control of both the navigation and target detection. 12
Fully autonomous control of both the navigation and target detection. Also, all the computations are made onboard. 14
Using external aids, such as visual markers -2 applied to factor

Mass Factor (M)

This year there will be a mass factor allocated to each MAV, rather than a size factor, defined as follows:

 

 

*Note: This is done to not unfairly penalize fixed wing, protections and alternative MAVs. lighter than air craft will,  but limited to maximum points (multiplier of 1).

Power Factor (W)

A power factor will also be applied to each competing MAV, to encourage alternative energy sources and lower capacity batteries.

 

*Note: For alternative power supply (eg. Solar) the multiplier will be capped at 1/10

 

 

Indoor Course

*Note: diagram is not to scale, obstacles are representative only and may not be configured in these exact locations during the competition.

 

Indoor Competition Rules

  • 1-pilot per MAV is required.
  • All flying MAVs need to stay within the designated flight area
  • All MAVs will be checked before flight and must be airworthy
  • At least one team member must maintain visual line-of-sight contact with their MAV
  • Only the competing team may have their radio equipment on during the competition
  • Only the competing team may fly their MAV during their competition slot
  • All teams shall present each of their MAVs for scrutineering
  • All batteries must have a means of monitoring the voltage to prevent cells dropping too low and becoming a hazard. They must also have appropriate storage when not in use, or charging (eg. LiPo safe bags).
  • The team is always responsible for the safety of its MAV and is liable for any accidents caused by their aircraft.
  • The main ground station screen has to be shared via a VGA output (to a projector or screen delivered by the organisation)
  • A human pilot must be able to take over manual control of the MAV at all times in case of an emergency.
  • Instructions given by IMAV staff shall be followed without argument.
  • Decisions made by the IMAV judging panel are final.
  • The “Wild Card” may only be used to pause the competition time slot once. When all other teams have competed, remaining time from the first attempt may be used to complete the course (time permitting).

Failure to adhere to these rules may result in penalty or disqualification.

 

 

Indoor Mission Brief

Teams are allocated 25  minutes to attempt the course, with the option to “pause” their time once by using their “Wild Card”.

The indoor event consists of 8 mission elements. Teams must attempt to complete as many of these mission elements as possible to achieve the maximum number of points.

Points will be deducted if any part of the aircraft touches an obstacle that is not the takeoff and landing pad, including the ground.

 

Competition Mission Elements

There will be a total of the following 8 mission elements

 

Element Number Mission
1

Take off

a) From the ground.

b) From the charging station.

2 Perform inventory of shelves #1
3

Cross shelves #1

a) through small frame.

b) through big frame

4 Perform the inventory of shelves #2
5

Cross shelves #2

a) through small frame.

b) through big frame

6

Pick up the corresponding package

a) Pickup small package.

a.1) With no aid.

a.2) With magnet.

a.3) With handle.

b) Pickup big package.

b.1) With no aid.

b.2) With magnet.

b.3) With handle.

7 Release the package on corresponding conveyor
8

Land on the charging station.

a) On the dropping area

b) On the correct charging station.

c) On incorrect charging station.

 

 

 

Description and Score of Mission Elements

 

  1. Mission element one: Takeoff

Each MAV is required to takeoff from the operating zone. There will two options:

  1. a) From the ground. The MAV will takeoff from the ground of the operating zone.
  2. b) From the charging station. In the operating zone, a structure simulating the charging station will be provided. This structure will be a cuboid of 1-1.5 m height where the MAV can be placed for performing the takeoff maneuver.

In front of the taking-off zone there will be a pole with a flag representing one of the countries which participated  in IMAV 2019. This flag will indicate in which conveyor belt the MAV is required to release the package.

 

 

 

 

  1. Mission element 2 and 4: Inventory of the shelves.

In this mission element, the MAV is required to perform the inventory of packages and their location in a 6 m x 4 m x 1 m shelves . For every package on a shelf the following data should be provided:

  • QR code that identifies the package (size of the code xxxxx)
  • Shelf identification code, situated at both ends of each shelf, that is made of a plate with a colored frame and an alphanumeric code inside (size 0.4 x 0.4 aprox.)
  • Position along the shelf, that can be obtain using identification plates with a colored frame and an alphanumeric code (size 0.2 x 0.1 aprox.)

 

 

  1. Mission elements 3 and 5: Crossing the shelves

Each MAV is required to cross the shelves and continue the mission. To this aim, each shelves will contain two designated crossing zones.

  1. a) Crossing the shelves through a colored frame. On the shelves, there will exist a colored frame. The specific dimensions of the frame will be provided.
  2. b) Crossing the shelves through a normal hole. The MAV will have the possibility of crossing the shelves without using the colored frame.

 

Teams are allowed to give up on mission elements 3 and 5 by crossing the shelves by flying above or surrounding it. No mission score will be given to mission elements 3 and 5 in this case.

 

 

  1. Mission element 6: pickup a package

In this mission element, the MAV is required to pick up a package. There will exist packages of two  different sizes (e.g. 27cm x 21cm and 17cm x 11cm) and weight proportional to the MAV weight. In order to perform the picking task, each package can have a handle, a magnet or no aid. Each team should select the picking way before starting the mission.

 

Teams are allowed to give up on mission element 6 by pre-loading the package onboard the MAV before takeoff. No mission score will be given to mission element 6 in this case.

 

 

  1. Mission element 7: Release the package

In this mission element, the MAV should recognize first the corresponding release zone. For this purpose, each of the three conveyor belts that will be in the release zone will have a flag representing one of the countries that participated at IMAV 2018. The MAV should locate the correct flag (the flag that was shown in the operating zone). After recognizing the corresponding conveyor belt, the MAV should perform the release maneuver in the designated place.

 

  1. Mission element 8: Land in the charging station.

Next to each conveyor belt, a charging station will be provided. This station will have a helipad printed on it, indicating the landing zone. Inside the helipad, two metal strips will be provided. In order to correctly land the MAV in the charging position, the MAV should touch the metal strips for closing the circuit.  The correct landing maneuver in the charging position will be indicated with a green light indicator, once the MAV closes the circuit.

 

 

 

 

Indoor Competition Scoring

Mission Element Description Points Available
Take-off

Successful take-off from take-off platform

Successful take-off from charging station

 

+2

+5

(max. 7 points)

  Points deducted for each obstacle/ground hit

-2 (each)

Cap at max -50 pts.

Inventory

Successful package location provided

Full inventory bonus

+3(each)

+10

(max. (#packages* 3 +10) points)

Shelf crossing

Successful shelf crossing

Hole size bonus:

-Very large (150 cm)

-Large (90 cm)

-Medium (60 cm)

-Small (40 cm)

Crossing through hole without frame

 

+5

 

+0

+5

+10

+15

+10

(max. 30 points per shelf, 60 points in total)

Package Picking

Successful package pick

Pick big package

Use handle aid

Use no aid

+10

+5

+5

+10

(max. 25 points)

Package release

Successful release on conveyor belt

Release on correct conveyor belt

 

+10

+10

(max. 20 pts)

Landing

Successful land

Land on charging station

Enabled charging

+2

+10

+10

(max. 22 points)

Outdoor Course

Outdoor Competition Rules

  • 1 pilot per MAV is required.
  • Maximum of 3 UAVs per team can be used.
  • Swarm of UAVs will be awarded more points.
  • At least one team member must maintain visual line-of-sight contact with their MAV.
  • All other team members (including those not competing) must remain in the pits or spectator “no-fly” zone.
  • All MAVs used in the outdoor competition are required to have some brightly coloured or fluorescent, stickers or tape.
  • All MAVs will be checked before flight and must be airworthy and demonstrate required fail-safes (see Safety document).
  • Only the competing team may have their radio equipment on during the competition.
  • Only the competing team may fly their MAV during their competition slot.
  • All batteries must have a means of monitoring the voltage.They must also have appropriate storage when not in use, or charging (eg. LiPo safe bags).
  • The team is always responsible for the safety of its MAVs and is liable for any accidents caused by their aircraft.
  • The main ground station screen has to be shared via a VGA output (to a projector or screen delivered by the organisation)
  • A human safety pilot must be able to take over the aircraft at all times in case of an emergency.
  • Instructions given by the IMAV staff and field marshalls shall be followed without argument.
  • Decisions made by the IMAV judges are final.
  • With respect to the previous search and rescue mission element, a live video feed needs to be sent back to the ground control station. Due to the nature of terrain, teams will not have line of sight signal from the take-off and landing area to the river and therefore will require a video feed relay back to the ground control station.
  • Note: You must keep radio communications with all MAVs during operations to abide by Spanish regulations.

 

Failure to adhere to these rules may result in penalty or disqualification.

Outdoor Mission Brief

Teams are allocated a 25 minute time slot with the option to “pause” their time once by using their “Wild Card”. The outdoor competition consists of 5 mission elements. All the mission elements need to be performed from the take-off point. Teams using swarm of MAVs will be awarded additional points with a maximum of 3 MAVs per team.

 

Points will be deducted for each obstacle hit like balloons or inflatable persons except the take-off and landing pad.  The mission elements for the outdoor event are as follows:

Take-off

  • Two take-off zones are available, one for multirotor MAVs and a second one for fixed wing MAVs requiring a runway.
  • The multirotors can have two options:
    • Take-off from a helipad marked with “H” of size 1m x 1m and height 1-1.5m,
    • Take-of from the ground in the operating zone.
  • Fixed wing can also have two options for take-off:
    • Take-off from a narrow runway of width 1m
    • Take-off from a normal runway.
  • Take-off will be valid only if it is performed with at least another mission element except landing.

Mapping

  • Teams will generate a 2D map of the specified area.
  • Additional points are awarded for:
    • Detecting a house in the 2D map with its GPS coordinates.
    • Detecting mail boxes in the 2D map with its GPS coordinates.

Delivery of the Packages

  • Each team has to perform delivery all given packages in their respective mailboxes.
  • 3 mailboxes of increasing sizes and 6 packages of different sizes 2 for each mailbox will be provided.
  • The mailbox and package configurations will be as follows:
    • Mailbox 1:
      • color: red
      • size: 75 x 0.65 x 0.30 m (length x width x height)
      • Number of packages to be delivered: 2
      • Color of packages to be delivered: red
      • Size of package to be delivered: 0.10 x 0.10 x 0.10 m (length x width x height)

 

  • Mailbox 2:
    • color: blue
    • size: 2 x 1.2 x 0.30 m (length x width x height)
    • Number of packages to be delivered: 2
    • Color of packages to be delivered: blue
    • Size of package to be delivered: 0.2 x 0.20 x 0.20 m (length x width x height)

 

  • Mailbox 3:
    • color: yellow
    • size: 5 x 1.5 x 0.30 m (length x width x height)
    • Number of packages to be delivered: 2
    • Color of packages to be delivered: yellow
    • Size of package to be delivered: 0.30 x 0.30 x 0.30 m (length x width x height)

 

  • Distribution of points for delivery of the packages in the mailboxes is as follows:
    • Minimum points will be allocated if the package falls within a given radius 5m near a mailbox.
    • If the package is delivered to the correct mailbox points will be awarded.
    • If the package is delivered to the correct mailbox, further points will be awarded if the package falls inside the mailbox. Points will be proportional to the mailbox size.

Delivery of a Fragile Package

  • Each team has to deliver a fragile package in a designated area near the entrance of the house.
  • Bonus points will only be awarded to those who are able to deliver the package with all the contents inside intact.

Detection of Lost Packages:

  • Some packages have fallen down during previous deliveries and need to be located.
  • Each team is required to detect and provide the GPS location in real time of 3 different packages each of size 0.50×0.50×0.30 m (length x width x height).
  • The boxes will have colors red, yellow and blue respectively.
  • Team can also provide the location of lost packages in the offline 2D map instead of real time.

Detection of Crashed Multirotor MAV:

  • Due to bad weather conditions in a previous delivery, a multirotor MAV has crashed and needs to be located in order to be recovered.
  • Each team will have to detect the crashed multirotor and provide its GPS coordinates in real time.
  • The multirotor will be in the size range of 5 x 0.50 x 0.4m (length x width x height).
  • Team can also provide the location of lost multirotor in the offline 2D map instead of real time but will be given less points.

Landing

  • Fixed wing MAVs will be required to land in narrow runway of width “1m ” and length “ ”, whereas multirotors will be required to perform precise landing in a square of size 1m x 1m.
  • In case of fixed wing MAVs points will be deducted if the MAV lands outside the specified width and length of the runway.
  • In case of multirotor MAVs points will be deducted if the MAV lands outside the specified square.

 

 

 

Outdoor Competition Scoring

The scoring of each element is as follows:

 

Mission Element Description Points Available
Take-off Successful take-off from designated area 2
Mapping

Map created

Detect house in map

Detect mailboxes

+10

+5

+5

(max. 60 pts)

Object detection

Lost package detected (each)

Crashed MAV detected

+5

+5

(max. 20 points)

Package delivery

 

Successful package delivery (each)

Precision delivery ( inside mailbox) (each):

-Small mailbox

-Medium mailbox

-Big mailbox

Delivery on correct mailbox (each)

+5

 

+5

+10

+15

+5

(max. 120 points)

Fragile package delivery

Successful delivery on front of the house

Precision delivery

Fragile object not broken after delivery

+5

+5

+20

(max. 30 points)

Landing

Controlled landing

Landing inside landing area

Landing inside precision landing area

+1

+5

+5

(max. 11 points)

Video Relay Video from aircraft relayed to ground station for viewing by spectators +10

 

 

 

to be updated

I can not find anyting in English. Better not to incluide it, I think

better “HDMI” instead

I’d remove “landing”

rethink this formula

or HDMI

20?

the country currently participaiting (?)

a frontal image of a shelf with packages and identification plates will be useful

think of using more ranges

an image will be very useful

 

 

 

 

IMAV 2019 Competition Rules

Indoor & Outdoor Events

 

V0.1 – January 2nd 2019

 

* Note that rules are subject to minor revisions and updates

 

 

Introduction

The indoor and outdoor competitions are set up to highlight the following points:

  • Aircraft efficiency and innovative designs
  • Light and small MAVs
  • Autonomy and image processing
  • Stability in turbulence
  • Multi-MAV cooperation

General

Australian Media and Communication Authority (ACMA) allows use of the following frequency bands:

     
     
     
     

 

Safety

To comply with Spanish Drone regulations:

  • Please see this link for more details. https://www.seguridadaerea.gob.es/lang_en/cias_empresas/trabajos/rpas/default.aspx
  • The maximum take-off weight of any MAVs must not exceed 2 kg
  • Maximum flight altitude is 400 ft (approx. 120m) Above Ground Level (AGL), however the ceiling has been reduced to comply with competition rules. This is 30 metres
  • All MAVs should stay inside the designated flight areas and below 30m. If a MAV strays outside the designated flight area, it should either land or turn back immediately inside the flight area.
  • Please ensure safe working practice while working on MAVs.
  • New paragraphs on Safety measurements are to be included here

Location

The event is held from September 30th to October 4th in Madrid, Spain. This will consist of 2 practise days, 2 competition days and 2 conference days.

Indoor Event

The indoor event will be held at the School of Industrial Engineering http://www.etsii.upm.es/ (belonging to Universidad Politécnica Madrid) in the middle of Madrid and approximately 3 km from Madrid old town.

Address:

Escuela Técnica Superior de Ingenieros Industriales

Universidad Politécnica de Madrid

Calle de José Gutiérrez Abascal, 2

Madrid, Spain

Map:   https://goo.gl/maps/2bxhJEQSiUx

 

Outdoor Event

The outdoor event will be held at Aeródromo Valle de La Laguna, south east of Madrid and less than 50 minutes drive from the main venue. Buses will be provided to and from the Indoors and Conference venue.

Address:

Aeródromo Valle de La Laguna

Carretera M-316 (Valdelaguna-Chinchón)

Km 3,2, Valdelaguna, Madrid, España

Map: https://goo.gl/maps/N8HFQk4auty

 

 

 

Scoring

The final score will depend on the success of each mission element (E = mission element score), the level of autonomy for each mission element (A​), the mass factor (M​), the power factor (W),  the “in-a-row” factor (I​), the swarm factor (S), and a presentation made by the team during the mission (P​). Awards will be determined using the following formula:

Where,

Indoors :

Outdoors :

 

Where,

P = Presentation (from 1 to 1.1)

E = Element score1

I = In-a-row Factor

A = Autonomy Level

M = Mass Factor

W = Power Factor

S = Swarm Factor

 

1Note that Element scoring is defined under the specific event information.

Presentation​ ​factor​ ​(P)

The team is rewarded when a team member presents the tasks and actions currently performed. The goal is to make the demonstration of each team more lively and accessible for the public. A video feedback of the ground station is also possible and is strongly recommended (standard VGA cable or analog video ).

The presentation factor will be determined according to the description of:

  • The MAV system and its design
  • The initial plan to perform the mission elements
  • The tasks actually performed
  • The level of autonomy of each task / MAV

 

Presentation factor = Is an additional 10% of the final score (P from 1 to 1.1)

In-a-Row Factor (I)

The in-a-row factor allows a multiplier for a single MAV that is able to complete multiple elements in succession (one after another). The multiplier starts counting after the first mission element is completed (take-off and landing  are not included). In-a-row can only be countered from the take off pad/zone.

 

Mission Elements Done In-a-Row I Multiplier
1 1.0
2 1.1      suggested  1.33
3 1.3       suggested  1.66
4 1.6       suggested  2
5 1.8       suggested  2.33
6 2.0       suggested  2.66
7(max. available) 2.2      suggested  3

 

Swarm  Factor (S)

The swarm factor allows a multiplier for using multiple MAVs simultaneously.

Number on MAVs I Multiplier
1 1.0
2 1.25       suggested  1.5
3 (max. available) 1.5         suggested  2

 

Level of Autonomy (A)

Level of Autonomy Factor
Video based control: control of the MAV through an FPV system. 1
Autonomous target detection: the navigation is manual, however the detection and processing of targets is automatic 4
Autonomous flight control: the navigation is completely autonomous, however the operator is controlling the mission and payload 5
Fully autonomous control of both the navigation and target detection. 12
Fully autonomous control of both the navigation and target detection. Also, all the computations are made onboard. 14
Using external aids, such as visual markers -2 applied to factor

Mass Factor (M)

This year there will be a mass factor allocated to each MAV, rather than a size factor, defined as follows:

 

 

*Note: This is done to not unfairly penalize fixed wing, protections and alternative MAVs. lighter than air craft will,  but limited to maximum points (multiplier of 1).

Power Factor (W)

A power factor will also be applied to each competing MAV, to encourage alternative energy sources and lower capacity batteries.

 

*Note: For alternative power supply (eg. Solar) the multiplier will be capped at 1/10

 

 

Indoor Course

*Note: diagram is not to scale, obstacles are representative only and may not be configured in these exact locations during the competition.

 

Indoor Competition Rules

  • 1-pilot per MAV is required.
  • All flying MAVs need to stay within the designated flight area
  • All MAVs will be checked before flight and must be airworthy
  • At least one team member must maintain visual line-of-sight contact with their MAV
  • Only the competing team may have their radio equipment on during the competition
  • Only the competing team may fly their MAV during their competition slot
  • All teams shall present each of their MAVs for scrutineering
  • All batteries must have a means of monitoring the voltage to prevent cells dropping too low and becoming a hazard. They must also have appropriate storage when not in use, or charging (eg. LiPo safe bags).
  • The team is always responsible for the safety of its MAV and is liable for any accidents caused by their aircraft.
  • The main ground station screen has to be shared via a VGA output (to a projector or screen delivered by the organisation)
  • A human pilot must be able to take over manual control of the MAV at all times in case of an emergency.
  • Instructions given by IMAV staff shall be followed without argument.
  • Decisions made by the IMAV judging panel are final.
  • The “Wild Card” may only be used to pause the competition time slot once. When all other teams have competed, remaining time from the first attempt may be used to complete the course (time permitting).

Failure to adhere to these rules may result in penalty or disqualification.

 

 

Indoor Mission Brief

Teams are allocated 25  minutes to attempt the course, with the option to “pause” their time once by using their “Wild Card”.

The indoor event consists of 8 mission elements. Teams must attempt to complete as many of these mission elements as possible to achieve the maximum number of points.

Points will be deducted if any part of the aircraft touches an obstacle that is not the takeoff and landing pad, including the ground.

 

Competition Mission Elements

There will be a total of the following 8 mission elements

 

Element Number Mission
1

Take off

a) From the ground.

b) From the charging station.

2 Perform inventory of shelves #1
3

Cross shelves #1

a) through small frame.

b) through big frame

4 Perform the inventory of shelves #2
5

Cross shelves #2

a) through small frame.

b) through big frame

6

Pick up the corresponding package

a) Pickup small package.

a.1) With no aid.

a.2) With magnet.

a.3) With handle.

b) Pickup big package.

b.1) With no aid.

b.2) With magnet.

b.3) With handle.

7 Release the package on corresponding conveyor
8

Land on the charging station.

a) On the dropping area

b) On the correct charging station.

c) On incorrect charging station.

 

 

 

Description and Score of Mission Elements

 

  1. Mission element one: Takeoff

Each MAV is required to takeoff from the operating zone. There will two options:

  1. a) From the ground. The MAV will takeoff from the ground of the operating zone.
  2. b) From the charging station. In the operating zone, a structure simulating the charging station will be provided. This structure will be a cuboid of 1-1.5 m height where the MAV can be placed for performing the takeoff maneuver.

In front of the taking-off zone there will be a pole with a flag representing one of the countries which participated  in IMAV 2019. This flag will indicate in which conveyor belt the MAV is required to release the package.

 

 

 

 

  1. Mission element 2 and 4: Inventory of the shelves.

In this mission element, the MAV is required to perform the inventory of packages and their location in a 6 m x 4 m x 1 m shelves . For every package on a shelf the following data should be provided:

  • QR code that identifies the package (size of the code xxxxx)
  • Shelf identification code, situated at both ends of each shelf, that is made of a plate with a colored frame and an alphanumeric code inside (size 0.4 x 0.4 aprox.)
  • Position along the shelf, that can be obtain using identification plates with a colored frame and an alphanumeric code (size 0.2 x 0.1 aprox.)

 

 

  1. Mission elements 3 and 5: Crossing the shelves

Each MAV is required to cross the shelves and continue the mission. To this aim, each shelves will contain two designated crossing zones.

  1. a) Crossing the shelves through a colored frame. On the shelves, there will exist a colored frame. The specific dimensions of the frame will be provided.
  2. b) Crossing the shelves through a normal hole. The MAV will have the possibility of crossing the shelves without using the colored frame.

 

Teams are allowed to give up on mission elements 3 and 5 by crossing the shelves by flying above or surrounding it. No mission score will be given to mission elements 3 and 5 in this case.

 

 

  1. Mission element 6: pickup a package

In this mission element, the MAV is required to pick up a package. There will exist packages of two  different sizes (e.g. 27cm x 21cm and 17cm x 11cm) and weight proportional to the MAV weight. In order to perform the picking task, each package can have a handle, a magnet or no aid. Each team should select the picking way before starting the mission.

 

Teams are allowed to give up on mission element 6 by pre-loading the package onboard the MAV before takeoff. No mission score will be given to mission element 6 in this case.

 

 

  1. Mission element 7: Release the package

In this mission element, the MAV should recognize first the corresponding release zone. For this purpose, each of the three conveyor belts that will be in the release zone will have a flag representing one of the countries that participated at IMAV 2018. The MAV should locate the correct flag (the flag that was shown in the operating zone). After recognizing the corresponding conveyor belt, the MAV should perform the release maneuver in the designated place.

 

  1. Mission element 8: Land in the charging station.

Next to each conveyor belt, a charging station will be provided. This station will have a helipad printed on it, indicating the landing zone. Inside the helipad, two metal strips will be provided. In order to correctly land the MAV in the charging position, the MAV should touch the metal strips for closing the circuit.  The correct landing maneuver in the charging position will be indicated with a green light indicator, once the MAV closes the circuit.

 

 

 

 

Indoor Competition Scoring

Mission Element Description Points Available
Take-off

Successful take-off from take-off platform

Successful take-off from charging station

 

+2

+5

(max. 7 points)

  Points deducted for each obstacle/ground hit

-2 (each)

Cap at max -50 pts.

Inventory

Successful package location provided

Full inventory bonus

+3(each)

+10

(max. (#packages* 3 +10) points)

Shelf crossing

Successful shelf crossing

Hole size bonus:

-Very large (150 cm)

-Large (90 cm)

-Medium (60 cm)

-Small (40 cm)

Crossing through hole without frame

 

+5

 

+0

+5

+10

+15

+10

(max. 30 points per shelf, 60 points in total)

Package Picking

Successful package pick

Pick big package

Use handle aid

Use no aid

+10

+5

+5

+10

(max. 25 points)

Package release

Successful release on conveyor belt

Release on correct conveyor belt

 

+10

+10

(max. 20 pts)

Landing

Successful land

Land on charging station

Enabled charging

+2

+10

+10

(max. 22 points)

Outdoor Course

Outdoor Competition Rules

  • 1 pilot per MAV is required.
  • Maximum of 3 UAVs per team can be used.
  • Swarm of UAVs will be awarded more points.
  • At least one team member must maintain visual line-of-sight contact with their MAV.
  • All other team members (including those not competing) must remain in the pits or spectator “no-fly” zone.
  • All MAVs used in the outdoor competition are required to have some brightly coloured or fluorescent, stickers or tape.
  • All MAVs will be checked before flight and must be airworthy and demonstrate required fail-safes (see Safety document).
  • Only the competing team may have their radio equipment on during the competition.
  • Only the competing team may fly their MAV during their competition slot.
  • All batteries must have a means of monitoring the voltage.They must also have appropriate storage when not in use, or charging (eg. LiPo safe bags).
  • The team is always responsible for the safety of its MAVs and is liable for any accidents caused by their aircraft.
  • The main ground station screen has to be shared via a VGA output (to a projector or screen delivered by the organisation)
  • A human safety pilot must be able to take over the aircraft at all times in case of an emergency.
  • Instructions given by the IMAV staff and field marshalls shall be followed without argument.
  • Decisions made by the IMAV judges are final.
  • With respect to the previous search and rescue mission element, a live video feed needs to be sent back to the ground control station. Due to the nature of terrain, teams will not have line of sight signal from the take-off and landing area to the river and therefore will require a video feed relay back to the ground control station.
  • Note: You must keep radio communications with all MAVs during operations to abide by Spanish regulations.

 

Failure to adhere to these rules may result in penalty or disqualification.

Outdoor Mission Brief

Teams are allocated a 25 minute time slot with the option to “pause” their time once by using their “Wild Card”. The outdoor competition consists of 5 mission elements. All the mission elements need to be performed from the take-off point. Teams using swarm of MAVs will be awarded additional points with a maximum of 3 MAVs per team.

 

Points will be deducted for each obstacle hit like balloons or inflatable persons except the take-off and landing pad.  The mission elements for the outdoor event are as follows:

Take-off

  • Two take-off zones are available, one for multirotor MAVs and a second one for fixed wing MAVs requiring a runway.
  • The multirotors can have two options:
    • Take-off from a helipad marked with “H” of size 1m x 1m and height 1-1.5m,
    • Take-of from the ground in the operating zone.
  • Fixed wing can also have two options for take-off:
    • Take-off from a narrow runway of width 1m
    • Take-off from a normal runway.
  • Take-off will be valid only if it is performed with at least another mission element except landing.

Mapping

  • Teams will generate a 2D map of the specified area.
  • Additional points are awarded for:
    • Detecting a house in the 2D map with its GPS coordinates.
    • Detecting mail boxes in the 2D map with its GPS coordinates.

Delivery of the Packages

  • Each team has to perform delivery all given packages in their respective mailboxes.
  • 3 mailboxes of increasing sizes and 6 packages of different sizes 2 for each mailbox will be provided.
  • The mailbox and package configurations will be as follows:
    • Mailbox 1:
      • color: red
      • size: 75 x 0.65 x 0.30 m (length x width x height)
      • Number of packages to be delivered: 2
      • Color of packages to be delivered: red
      • Size of package to be delivered: 0.10 x 0.10 x 0.10 m (length x width x height)

 

  • Mailbox 2:
    • color: blue
    • size: 2 x 1.2 x 0.30 m (length x width x height)
    • Number of packages to be delivered: 2
    • Color of packages to be delivered: blue
    • Size of package to be delivered: 0.2 x 0.20 x 0.20 m (length x width x height)

 

  • Mailbox 3:
    • color: yellow
    • size: 5 x 1.5 x 0.30 m (length x width x height)
    • Number of packages to be delivered: 2
    • Color of packages to be delivered: yellow
    • Size of package to be delivered: 0.30 x 0.30 x 0.30 m (length x width x height)

 

  • Distribution of points for delivery of the packages in the mailboxes is as follows:
    • Minimum points will be allocated if the package falls within a given radius 5m near a mailbox.
    • If the package is delivered to the correct mailbox points will be awarded.
    • If the package is delivered to the correct mailbox, further points will be awarded if the package falls inside the mailbox. Points will be proportional to the mailbox size.

Delivery of a Fragile Package

  • Each team has to deliver a fragile package in a designated area near the entrance of the house.
  • Bonus points will only be awarded to those who are able to deliver the package with all the contents inside intact.

Detection of Lost Packages:

  • Some packages have fallen down during previous deliveries and need to be located.
  • Each team is required to detect and provide the GPS location in real time of 3 different packages each of size 0.50×0.50×0.30 m (length x width x height).
  • The boxes will have colors red, yellow and blue respectively.
  • Team can also provide the location of lost packages in the offline 2D map instead of real time.

Detection of Crashed Multirotor MAV:

  • Due to bad weather conditions in a previous delivery, a multirotor MAV has crashed and needs to be located in order to be recovered.
  • Each team will have to detect the crashed multirotor and provide its GPS coordinates in real time.
  • The multirotor will be in the size range of 5 x 0.50 x 0.4m (length x width x height).
  • Team can also provide the location of lost multirotor in the offline 2D map instead of real time but will be given less points.

Landing

  • Fixed wing MAVs will be required to land in narrow runway of width “1m ” and length “ ”, whereas multirotors will be required to perform precise landing in a square of size 1m x 1m.
  • In case of fixed wing MAVs points will be deducted if the MAV lands outside the specified width and length of the runway.
  • In case of multirotor MAVs points will be deducted if the MAV lands outside the specified square.

 

 

 

Outdoor Competition Scoring

The scoring of each element is as follows:

 

Mission Element Description Points Available
Take-off Successful take-off from designated area 2
Mapping

Map created

Detect house in map

Detect mailboxes

+10

+5

+5

(max. 60 pts)

Object detection

Lost package detected (each)

Crashed MAV detected

+5

+5

(max. 20 points)

Package delivery

 

Successful package delivery (each)

Precision delivery ( inside mailbox) (each):

-Small mailbox

-Medium mailbox

-Big mailbox

Delivery on correct mailbox (each)

+5

 

+5

+10

+15

+5

(max. 120 points)

Fragile package delivery

Successful delivery on front of the house

Precision delivery

Fragile object not broken after delivery

+5

+5

+20

(max. 30 points)

Landing

Controlled landing

Landing inside landing area

Landing inside precision landing area

+1

+5

+5

(max. 11 points)

Video Relay Video from aircraft relayed to ground station for viewing by spectators +10

 

 

 

to be updated

I can not find anyting in English. Better not to incluide it, I think

better “HDMI” instead

I’d remove “landing”

rethink this formula

or HDMI

20?

the country currently participaiting (?)

a frontal image of a shelf with packages and identification plates will be useful

think of using more ranges

an image will be very useful

If you have any question or comment on the rules, please fulfil next email to be sent to the organising committee with the subject questions/coment ## to rules v0.4

info@imav2019.org

Questions/coment ## to rules v0.4