Small Size League/RoboCup 2016/Technical Challenges/11vs11

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11-vs-11 Mixed Team Challenge

The 11 on 11 Technical challenge is a full match between two teams of up to 11 robots, each composed of robots from two different SSL teams (here referred to as sub-teams). Each robot must be controlled by its originating sub-team’s software. Sub-team pairings will rotate so that each team plays with all possible partner teams.

Communication

Communication between the two sub-teams of a team is allowed, according to the following specifications:

  • Messages are sent as UDP packets encoded with Google protobuf to port 10012.
  • Sub-teams communicate only a rough plan for each of their robots using the TeamPlan message specified by the multi_team_communication.proto Google protobuf:
 package multi_team_comm;
 //Protocol to communicate rough plans to other teammates
 //Units are specified as follows:
 //length - millimeters
 //time - seconds
 //angle - radians
 
 //Plan of a list of robots
 message TeamPlan {
   repeated RobotPlan plans = 1;
 }
 
 //Plan of a single robot
 message RobotPlan {
   //ID of the robot from SSL vision
   required uint32 robot_id = 1;
   //Role that this robot is assuming
   // 0 - no specified role
   // 1 - goalie
   // 2 - defense
   // 3 - offense
   optional int32 role = 2;
   //Planned navigation target
   optional Pose nav_target = 3;
   //Planned shot target
   optional Location shot_target = 4;
 }
 
 // Location message, in mm. The center of the field is specified as (0, 0).
 // Positive x axis points to the opponent's goal
 message Location {
   required int32 x = 1;
   required int32 y = 2;
 }
 
 message Pose {
   //location of the robot
   optional Location loc = 1;
   //heading of the robot
   optional float heading = 2;
 };

Rules

Standard SSL rules apply to mixed team games with the following additions:

  • A mixed team is formed from robots of two sub-teams.
  • The maximum robot number is increased to 11 per mixed team. Each sub-team may have only a maximum of 5 players on the field at any time. Each sub-team may additionally provide a goalkeeper for one period. The goal keeper for the second period must not be provided by the same sub-team that provided the goalkeeper for the first period.
  • Goals are only valid if robots from both of the two sub-teams forming a mixed team have touched the ball since the last stoppage of play.
  • The robots must be able to submit to a speed limit imposed by the referee, subject to change during the game due to safety concerns. Teams will be allowed to touch their computers for up to a minute if the speed limit is changed; this time will be used exclusively to change the speed configuration as requested.

Field Setup

The size of the field will be approximately 13.4 meters by 9 meters, as shown below.

Approximate dimensions of the 11 vs 11 field.

For the quad-size field setup, a total of eight cameras will be used, with two separate computers running ssl-vision. The coordinate system, and camera layout will be as shown in the following figure:

Quad Field Coordinates.png

Computer 0 will run process images from cameras 0-3, and computer 1 will process images from cameras 4-7.

On ssl-vision on computer 0, cameras 4-7 will be enumerated, but not running.

On ssl-vision on computer 1, cameras 0-3 will be enumerated, but not running.

Both computers will publish their data to the standard ssl-vision UDP multicast and port, 224.5.23.2:10006

The quad-size-field branch of SSL-Vision has been pre-configured to the coordinate system and camera assignment for the quad-size field:

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