Rules (Rul) |
| 1(Rul) Will the demonstration be confined to outdoors, with no requirement for operations inside the bank? |
The air vehicle demonstration is not confined to the outdoors. Air vehicles may be flown into the bank building to conduct detailed sensing if necessary. The commando team will move to and open the door to the hostage room as directed by the team. The mission is complete when the commandos open the door as directed. |
| 2(Rul) Is the scenario intended to test sensor performance also? |
No; it seeks the ability to provide a useful sensor payload on a MAV. The sensor must have high enough fidenlity to detect mine targets as described in the FAQ Rule 10, larger obstacles that occur in the environment, and for some teams who choose to compete, chemical signatures of explosives. |
3(Rul) Scoring clarification
Will considerable emphasis be placed on the performance of the dismounted commando team in evaluating mission success?
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The directions given to the commando team will be evaluated for clarity and precision. The commando team will attempt to execute guidance precisely based on guidance provided by the demonstration team. Teams will not be penalized for accidental moves by the commando team that are not directed by the demonstration team. However, unless the MAV navigation/location /sensor data are "actionable", the demonstration team may have difficulty precisely controlling the commando team If the data provided is unusable, it will be apparent in the response of the commando team. |
| 4(Rul) Will mission execution be a continuous variable, as it is with the other metrics, or will it be binary (i.e., variable between 0 and 300 points, not either 0 or 300 points)? |
It will be a continuous variable. |
| 5(Rul) Will the scoring be on the basis of the ease with which the commandos can determine a low-risk route to rescue the hostages? ; Hence, will the metrics be related to locating and correctly identifying the mines, tracking the guard vehicle, and the determining the location of the hostages, with the amount of time required to perform the tasks kept separate from the time required by the commandos to execute their mission? |
Yes; if the commandos have to "hunker down" to avoid being seen for a period of time during one scenario due to the random movements of the adversary, then that is not to be a negative thing compared to a commando team that can make their ingress more rapidly because the adversary luckily decides to spend a bit more time on the opposite side of the bank building. Note: the commandos do not determine the route, the demonstration team directs the commandos on the precise route and the commandos attempt to execute the route accurately and in a timely manner while avoiding detection. |
| 6(Rul) Is the percentage of mines geo-located by the MAV as suspicious objects and the time required to do so critical to the success of the mission? Will the percentage of mines correctly confirmed count? Will the time required by EOD ground robot to travel to and check suspicious objects be an inverse metric? |
The timely ability of the MAV to geolocate mines is critical to the success of the mission. If only one mine is located on the ingress path and the Explosive Ordnance Disposal (EOD) robot (also termed as an Unmanned Ground Vehicle – UGV) clears only one mine to effect a clear ingress path, that should be sufficient for mission completion-- finding all, or more mines is not essential but will slightly enhance the score. |
| 7(Rul) The rules indicate that demonstrators who successfully pass through the “performance judging” are eligible for research grant awards; will eligible demonstrators be provided guidance about the grants process? |
Yes; they will be provided during the in-briefing, which will be given in Agra on 9 March 2008. |
8(Rul) The rules state that the vehicle must fit inside a 30 cm sphere. Is this really the case, or does this mean that no dimension can be greater than 30 cm?
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The longest dimension, regardless of orientation, should be less than 30 cm. The vehicle must fit into a 30 cm sphere. An increase of size up to 10% extra in the longest dimension is permitted However a point penalty will be assessed on a sliding scale based on percentage of increase.
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9(Rul) Will we be given an approximate (without dimensions) map of the area, will there be prior pictures available that are sufficient to build a route map a priori, or do we need to use the MAVs to build a route map?
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You may research the area to the best of your ability or from the sketches that are provided in the FAQ section. During the pre-mission briefing on site, teams will be given critical locations and be oriented to the demonstration area. Grid coordinates will be provided for: locations of the ground station, the launch/recovery points , the UGV ingress point, the commando ingress point, the building where the hostages are being held, and the airspace boundaries. The route map and identification of all other features and potential obstacles will need to be developed from images obtained by the Micro-Aerial Vehicle(s). |
10(Rul) How big are the mines? What do they look like? Will the EOD robots need to manipulate the mines in order to deactivate them?
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The simulated mines, which will be flush with the ground but otherwise detectable by visual means, will be round in shape, have a diameter of 15 cm, and will have a metal grating on top. The mines will be difficult to detect aerially and will have a lethality (effect) zone equal to 20 meters diameter.
The Explosive Ordnance Disposal (EOD) Vehicle (Unmanned Ground Vehicle or a simulation through a manned ground vehicle that is directed by the ground control station) would be means of choice for "disarming" the mines. The EOD vehicle entering the effect zone, stopping and indicating the mine has been "disarmed" would mean that the mine has been deactivated. If the EOD vehicle were to enter and exit the effect zone without stopping and indicating disarm, it (the vehicle) would be considered destroyed. If a mine is not deactivated and the following commandos were to enter its effective zone, the commandos will be considered as killed and the mission would be considered as failed; however, they would be considered as safe were they to skirt around the effect zone. |
11(Rul) What can we assume about the guards' field of view?
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The human guards in the vehicle will essentially have a 360 degrees view from the vantage point, taking into account occlusions from buildings, trees and other features. |
12(Rul) What happens if a guard sees a MAV?
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A slow flying MAV (less than 10 knots ground speed) that is spotted by a guard and flying at less than 100 feet Above Ground Level (AGL) will be assessed a penalty and must return to the launch point and is considered destroyed. If a guard spots the EOD vehicle the EOD must be returned to the launch/recovery point and is considered destroyed. If a guard observes the commandos, the rescue mission will be considered as failed. |
13(Rul) Is it reasonable to assume that most of the operations will be localized to a small part of the 1km square field?
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Yes; however, teams should understand that they will need to have the ability to operate their Micro-Aerial and Unmanned Ground Vehicles at distances which are about 1km from the ground station. |
14(Rul) How tall are the buildings?
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The tallest building is the building where the hostages will be held. It is a three-story building and, with the antennae on top of the terrace, the overall height is estimated to be about 12 meters. The other buildings are much shorter. |
15(Rul) Can an MAV or a UGV or commandos enter the area from anywhere?
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No, only from the designated ingress/launch points; however, they can move to approach the building where the hostages will be held from any side so long as they remain within the limits of the demonstration zone. Movement outside the limits of the demonstration zone will be grounds for disqualification. |
16(Rul) Can the external controllers be located anywhere along the perimeter?
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No; they can only be at the designated the ground station and launch/recovery points. Also see A-9. Positioning for safety concerns and to meet flight termination requirements can be discussed on a case by case basis. See FAQ Rule 21. |
17(Rul) Is mapping of the interior of the bank building necessary?
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Not necessary; however, teams will be evaluated on how they perceive and determine in which room the hostages will be located. |
18(Rul) Is it enough that the commandos enter the bank room where the hostages will be held, or do they need to return undetected as well? The rules state: "A successful mission will be declared if two Mavedonia National Defense Force commandos can reach the hostage room safely and undetected in less than 40 minutes ..." |
They need only to open the door to the hostage room as directed by the demonstration team |
19 (Rul) Is there a minimum altitude for the MAVs in the vicinity of the hostage building? |
Yes. MAVs flying faster than 20 knots ground speed must maintain a 100 ft above ground level altitude within a 100 meter radius of the hostage building. MAVs flying slower than 20 knots may be flown down to ground level within 100 meters of the hostage building. |
20 (Rul) Will there be any unique signatures that the teams can use to identify in which rooms the hostages are located? |
Yes. Unique audio and visual signatures for the hostages will be provided to the teams. |
21 (Rul) Will external safety pilots be permitted to be located in the vicinity of the hostage building? |
Yes. However they will only be able to take control of the MAV in an emergency. |
| 22 (Rul)Will demonstration of a hovering ornithopter be specially scheduled or does it have to be a sub-system in the performance of the stated mission? If we want it to land on a roof, how far will the launch point be set?
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Of the 15 teams that are selected, only the micro-aerial vehicle(s) having a chemical sensing capability will be specially scheduled to demonstrate its ability to detect explosives. The ornithopter should play a part in the performance of the mission. The launch point will be located in a clear, flat area approximately 1 km from the building in which the hostages are located.. Applications for any relief will have to be submitted in writing and it will be up to the discretion of the judges whether relief can be given. If relief is granted, a deduction in the score will result. |
| 23(Rul) Where will the launch zone for the mission be? Can we choose the point or will it be fixed? |
The launch point will be identical for all teams unless relief is granted (see above). The launch point is fixed and is not chosen by the teams. |
| 24(Rul) Where will the infiltration point be? |
The infiltration point will be identical for all teams. It will be located in the vicinity of the launch point approximately 1 km from the building in which the hostages are located. |
| 25(Rul)How will the deployment points for the micro-aerial vehicle (MAV) and the unmanned ground vehicle (UGV) be defined? May we launch the MAV from the UGV? |
The UGV deployment point will be identical to the infiltration point (vicinity of the launch point). The MAV deployment point is designated as the MAV launch point (see above). In the event that a team’s design uses the UGV to carry the MAV, then the launch point will be modified for that team to coincide with the UGV’s location. However, the MAV will not be permitted to launch until the UGV has moved to a position equal to the location of the launch point (for safety purposes). Additionally MAV’s may not be carried by simulated UGVs and must be launched remotely from the ground control station. |
| 26(Rul)What is the minimum size of the UGV? |
There are no minimum size limitations |
| 27(Rul)What is the exact formula which takes into account the size of the MAV? How will an oversized vehicle be penalized?
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The vehicle should fit in a 30 cm sphere, however vehicles having up to a 10% increase in the size will be allowed to compete. The formula for scoring the size of the vehicle is as follows:
- If the MAV does not fit in a 33 cm sphere, the total score will be multiplied by 0.0
- If the MAV just fits in a 33 cm sphere, the total score will be multiplied by 0.75
- If the MAV just fits in a 32 cm sphere, the total score will be multiplied by 0.87
- If the MAV just fits in a 31 cm sphere, the total score will be multiplied by 0.95
- If the MAV just fits in a 30 cm sphere, the total score will be multiplied by 1.0
- If the MAV just fits in a 29 cm sphere, the total score will be multiplied by 1.1
- If the MAV just fits in a 28 cm sphere, the total score will be multiplied by 1.2
- If the MAV just fits in a 27 cm sphere, the total score will be multiplied by 1.3
- If the MAV just fits in a 26 cm sphere, the total score will be multiplied by 1.4
- If the MAV fits in a 25 cm sphere, the total score will be multiplied by 1.5
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28(Rul)Can you please clarify if an antenna or another kind of appurtenance is counted against the size limit of the vehicle having to fit within a 30 cm sphere?
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The "air vehicle" is defined as the aerostructure (lifting surfaces, connecting structure (i.e., fuselage), propulsors, and launch/recovery accouterments). Antennas (especially trailing wire antennas) are not considered part of the "air vehicle" unless said antenna generates lift or propels the vehicle, or is used as a launch/recovery structure. As such, a 21cm x 21cm x 5 cm vehicle with an antenna of 16 cm in the center of the vehicle would "fit within a 30 cm sphere" "regardless of orientation," so the size of the vehicle will be within limits even though the antenna penetrated the surface of the sphere. |
| 29(Rul)
We are planning to have both UGVs and MAVs for the competition. Can we launch some MAVs from Base Station and launch other MAVs from UGVs on the way to the building? In the FAQ, it mentions that “However, the MAV will not be permitted to launch until the UGV has moved to a position equal to thelocation of the launch point (for safety purposes).” Can we have multiple launch points at Base station, and areas between base station and the building for multiple MAVs?
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There is a FW launch point and a RW launch point at the ground control station. The FW launch point has sufficient space to handle two FW launches near simultaneously. The organizers will set up two VTOL launch points at the ground control station to accommodate multiple MAV launches/recoveries. Five MAV takeoff and landing sites will be located at varying distances from the ground control station throughout the depth of the demonstration area. These are intended to serve as takeoff and landing sites for MAVs that launched either from UGVs or the original launch points at the ground control station. The MAVs carried on UGVs can launch from at any location in the no fly area once they have moved past the VTOL launch points at the ground control station |
| 30(Rul)
If the EOD vehicle is considered destroyed by mine by entering and exiting the effect zone without stopping and indicating disarm, will the mine be destroyed (or deactivated)?
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Yes, the mine will be destroyed. |
| 31(Rul)
2. How can we know if the UGV is destroyed by mine/guard? Someone in the base station will tell us, won’t he?
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The ground control station operators will be informed by the judge or a mission director when the UGV is sighted or destroyed. |
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