9

Robotics Competition
2019-20

e-Yantra Robotics Competition (eYRC 2019-20)

Task 1 Scoring Guidline and Submission Instructions
Firstly, corections:

In the Problem Statement of Task 1.2, the last line of the “Procedure” section should be:

“After traversing the 5 waypoints in the order given above, the drone must hover on the fifth
waypoint till the rosbag has finished recording.”

Instead of:

“After traversing over the four waypoints as per expected flight path, the drone must land on the
fifth waypoint indicating end of task.”

Additional points:

 Your drone must be within the threshold mentioned in the document (i.e. 0.2 in all x, y and z
axes for Task 1.1 and 0.2, 0.2, 0.5 in x, y and z axes respectively for Task 1.2) for the waypoint
to be considered as traversed/completed.

 Quicker runs (w.r.t. simulation time) in both Task 1.1 and Task 1.2 will garner better scores.

 That is, in Task 1.1 when you run record_rosbag.launch and let’s say your drone reaches the
setpoint in 2 seconds and stays there for the remaining 18 seconds; then your score will be
higher than someone whose drone takes 5 seconds to reach the setpoint and hovers there for the
remaining 15 seconds. Remember all time values are in simulation time.

 In Task 1.2 when you run record_rosbag.launch and let’s say your drone traverses all the
waypoints in 11 seconds and hovers at the final waypoint at for the remaining 9 seconds; then
your score will be higher than someone whose drone traverses all the waypoints in 17 seconds
and hovers at the final waypoint for the remaining 3 seconds.

 You have to follow the waypoints in the sequence given in the problem statement. Skipping
waypoints is not allowed.

 In Task 1.2 partial marks will be awarded for completing each waypoint. So even if you do not
manage to reach all waypoints, submit your best result.

 Hence to summarize, no marks will be given if you go to waypoint, let’s say, 1 followed by 3
and then 5, as you have skipped waypoints 2 and 4. On the other hand, if you only manage to
traverse through waypoints 1, 2 and 3 during the 20 second recording only partial (NOTE: not
proportional) marks will be awarded.

ERTS LAB
IIT Bombay