Chip Kick Interception
The goal of this challenge is to detect and intercept chip kicks based on SSL Vision data.
A chip kick is performed from 3 different locations by an opponent robot:
- From a corner to the center of the field
- From a corner along the long side of the field
- From the goal to the center
At each location, 4 kicks of different distances are performed. These distances are 2m, 2.5m, 3m and 3.5m in random order.
A participating team places one robot on the field. The task is to touch the ball before or shortly after it hits the ground for the first time. This shall imitate the defense problem when the opponent plays chip kicks.
A participating team has to publish its software which is responsible for detecting chip kicks and reconstructing the flight trajectory.
Each successfull interception (i.e. the participating robot touches the ball before it hits the ground a second time) gives 3 points. If the ball is kicked instead of simply touched, 1 extra point will be awarded. If the ball is kicked into a goal, 1 further extra point will be awarded. This gives a total number of 60 possible points.
The purpose of this challenge is an implementation demonstration of the SSL multi-team communication protocol. Therefore, two participating teams perform various collaborative tasks using this protocol. The mixed team has 15 seconds to accomplish each task. This challenge assumes a simple master-slave relationship between the two collaborating teams. This is, the master team sends a team plan to the slave team, which acts according to this plan. In order to evaluate the behavior in accordance to the team plan, the master team sends the team plan to an evaluator computer (run by the TC). This computer forwards the team plan to the slave team.
Initial situation for each task
The referee command before the actual tasks is Stop. The robots of both teams have to be located within 1 meter distance to the middle line between the two goals. The goalie has to be located in the defense are and has to remain there during all tasks.
This task is signaled by a GameForce referee command. All defenders have to move to the own goal, all attackers to the opponent goal. Every robot of the joint team except for the goalie must be assigned either a Defense or Offense RobotRole. There have to be at least 2 defenders and 2 attackers. The task is fulfilled when all robots are located within 2 meter distance to the particular goal’s center, but not inside the defense or attack area.
This task is signaled by an Indirect Freekick command for the opponent team (which is not present at the field).
9 defenders have to be located with less than 10 centimeters distance to the defense area, but not occupying or touching the defense area. The master team should prescribe the target positions in order to avoid positioning conflicts.
This task is signaled by an Indirect Freekick command for the mixed team.
The master team chooses one of the partner team’s robots and plays a pass to this robot. The task is fulfilled if no other than this robot and the kicker of the freekick touched the ball before it entered the opponent’s goal. The chosen robot of the Slave team is indicated by sending a shot_target to this (and only this) robot in its RobotPlan. If the ball leaves the field without scoring a goal, or if another robot than the two mentioned touched the ball, no points are scored.
Each successfully accomplished task gives an 5 points, remaining seconds are added up as points. Both teams receive the same amount of points. This gives a total number of 60 possible points.
The best 4 scoring teams will be qualified to compete in the Mixed Team Challenge.
The evaluation software can be found at: https://github.com/AlexanderDanzer/multi-team-communication-challenge