4.2 Autonomy Challenge Scoring
The Autonomy Challenge occurs in three rounds: Qualifying, Semi-Finals, and Finals. Points are awarded only in the Semi-Final and Final Rounds, as outlined in this section. Upon completion of the Semi-Finals Round, the judges will announce the top-scoring teams who will progress to the Finals Round. The judges have the discretion to select the number of teams advancing to the Finals Round.
After the competition, RoboNation will issue Autonomy Challenge overall standings. Any team accepted into the Finals Round will be ranked ahead of all teams that did not participate in the Finals Round.
4.2.1 Point Breakdown
Each task has a point value associated with it. Each vehicle must pass through the gate before attempting any other task. The tasks can be completed in any order by one or more vehicles. The recovered object must be attached to the vehicle when the vehicle is on the surface to obtain maximum points for “surfacing with object”.
During a scored timeslot, the team lead may end the run at any time and keep the accumulated points. The team may decide to start another run, in an attempt to accomplish more/different tasks.
Semi-Finals Points – Last Run
For semi-finals, at the start of a new run, the points accumulated from the previous run are forfeited. A new run is started when the vehicle leaves the starting location. The only points recorded are from the very last run.
Finals Points – Best Run
For the finals, the best run will be used for the final points. Therefore, a team may try to accomplish as many runs as time allows, and the run that has accumulated the most points will be used for their final score. If the minimum requirements have been met, the remaining time after each run will be recorded and used to calculate a time bonus. For example, after the first run, a team has met the time bonus requirements with 10 minutes remaining on the clock. Those 10 minutes are used to calculate the time bonus for that run. Regardless of what happens with the next run.
Scoring Breakdown to be released at a later date.
Pinger Tasks
Pending task (to be decided by community poll) and Ocean Cleanup will only be marked with a pinger. There will be no path markers that point to either task. A team may request that a specific pinger be switched on (pinger near Pending task, or pinger near Ocean Cleanup). At any time during the run, the team lead may ask to have the pinger switched to the other task. This switch can be done as many times as the team lead asks. Additional points are awarded if the team requests a random pinger.
Random Pinger
If a vehicle can score points at both pinger tasks, the team lead may request a random pinger selection. The only randomization is the selection of the first task(s) marked with a pinger, the second task(s) will always be the other task(s) marked with a pinger. If the vehicle obtains any points from the first task(s), associated with the random pinger, bonus points are awarded. At any time after the vehicle has obtained points from the task(s) associated with the random pinger, the team lead may ask to switch the pinger. If the vehicle obtains any points from the second task(s), associated with the random pinger, bonus points are awarded.
If the team lead requests to switch the pinger before the vehicle has acquired any points, the run reverts back to a specific pinger request run and no random pinger points will be awarded.
Breaching
When completing a sequence of tasks, a team may choose to complete the surfacing task (surface within the floating area) at any time. A vehicle may breach the surface within the floating area and then submerge again to compete the remaining tasks without the risk of ending the run. For a vehicle to continue after breaching, it must surface within the floating area, and may be touching the surfacing task. A breach outside of the floating area will end the run of that vehicle. If there are multiple vehicles underway (and underwater) this does not end their run. The remaining vehicles may continue their own autonomous mission and continue to score points for their run. If the breached vehicle cannot be removed safely without interfering with the remaining vehicle(s), it will be allowed to continue its run, but will not score any more points for that run.
Interference
Vehicles that interfere with competition elements may be disqualified at the judges’ discretion. “Interference" does not include cases where, in the opinion of the judges, a vehicle is attempting to complete one of the tasks. If a vehicle becomes entangled on a competition element the run will be declared complete. Teams may keep the points earned on that run or may have the vehicle returned to the dock and start another run. If a new run is begun, all points from the previous run are forfeit.
Passing through the gate: The judges’ discretion will determine whether or not the vehicle satisfactorily passes through the gate. To get maximum points, vehicles need to pass through the gate cleanly (don't touch either of the side, touching the divider or images is ok).
Maintain control through the gate: Was the vehicle in control as it passed through the validation gate? This is intended to distinguish between vehicles demonstrating autonomous control versus those relying on manual compensation for hardware or tuning issues.
For example:
A vehicle with slight side-to-side (sinusoidal) movement due to PID tuning, but that generally maintains its heading, is considered to be in control.
A vehicle that searches for the gate, identifies it, and then proceeds through it intentionally, has also maintained control.
In contrast:
A vehicle that is intentionally aimed away from the gate to counteract drift from unbalanced motors or poor tuning — then drifts through the gate — has not maintained control.
This evaluation is about whether the vehicle is actively navigating, adjusting, or holding a heading on it's own, not just passively ending up in the right place.
Surface within the Area: The vehicle must fully surface within the floating area to obtain max points. Partial points will be awarded based on how much the vehicle is inside the area.
Grabbing the Object: The object must be captured and constrained by the vehicle to obtain full points. Partial points may be awarded for a partial capture (i.e. a hook/magnet).
Releasing the Object: The object must fall free from the vehicle to obtain full points. An object hanging on the vehicle may be awarded partial points with judges’ discretion.
Inter-vehicle Communication (IVC): When there are multiple vehicles in the water, they must communicate with each other in order to obtain IVC points (multiple vehicles are not required to communicate with each other). Proof of the communication must be presented to the judges to evaluate. Having indicator lights which help to draw attention when they are transmitting and receiving IVC messages would help with the confirmation (but are not required). The level of the communication and the complexity of the behaviors derived by the communication are what determine the level of points awarded.
Time Bonus: At a minimum, a vehicle must touch a buoy, drop at least one marker in the bin (or fire one torpedo through the opening), and fully surface within the floating structure to obtain a time bonus. These tasks can be completed in any order.
The time bonus is a calculation of whole minutes remaining plus fractional seconds. For example, with a remaining time of 7:13, a team will receive: (7+13/60)*100 = 721.667 points (approximately).
Additional Scoring Considerations
There is a 10 ft (3 m) radius imaginary buffer (spherical) around each task. When a vehicle enters the buffer, an attempt for that task has started. When a vehicle exits the buffer the attempt for that task has ended.
If multiple tasks are grouped such that there isn’t the required separation, the attempt on the first task has ended when the vehicle has clearly moved on to the next task.
If a task is a single event (pass through the gate, touch buoys, etc.), points for a task are awarded on a per attempt basis.
If a task can collect items (i.e. it has a bin), points are added until the maximum points are reached. I.e. If there is a maximum of two markers in a bin, one vehicle drops 1 marker in the bin, and a second vehicle drops 2 markers in the bin, the points are capped at 2 markers in the bin.
The higher value for a task during a run replaces the previous score. If a vehicle revisits a task in the same run, the higher score is used.
Semi-Finals Round: Each vehicle is scored independently, the run starts when the vehicle leaves the starting location and ends when the team lead calls to kill that vehicle, the vehicle breaches, or the time runs out. The scores are based on the last run of each vehicle.
Finals Round: The “Best of” run for each vehicle is used to determine the final score.
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