The provided information relates to the specifics of the competition.
Arena size: 5.4 m x 7.2m, max height 2m
Obstacles: Obstacles will be pipes of different height and diameter (~10cm) as illustrated in the below picture.
Marker size: The marker size will be 10×10 cm, and it should be visible from a distance around 70 cm (grayscale image, camera streamed with 3 FPS)
Number of markers in the arena: The markers will be between 5 to 10, however, the exact number of markers will be announced immediately before a scheduled run
Crazyflie team size: 3 or 4 Crazyflies
Pose feedback: Optitrack
Connectivity rules: same as for the simulation, communication range: tentatively 2 to 3 meters (exact number will be provided before the competition, depends on the size of the Optitrack coverage area)
Map layout: different layouts will be used, octomap will be provided at runtime
Flight restrictions:
Takeoff rate: 0.2 m/s
Max velocity: 0.9 m/s
Minimal xy distance between UAVs: 0.3m (no flying Crazyflies above other Crazyflies regardless of height difference)
Battery recharging procedure:
As soon as one Crazyflie reaches the critical battery level, all UAVs must return to base. Batteries can then be exchanged by team members, and the mission can continue.
Run ending procedure:
All UAVs must return to the base and land, team leader then declares that the run is over.
Competition timeline:
Tuesday May 13: arena setup by the competition organizers, software installation and integration workshop for teams
Wednesday May 14: practice day (slot duration and schedule will be announced on Tuesday)
Thursday May 15: competition day (slot duration and schedule will be announce on Wednesday)
Thursday May 15 evening: gala dinner with the competition results announcement
Software:
We are working on preparing the Docker image and container, the procedure for running your solutions should be similar to the simulation stage. We kindly ask for your patience, as I already mentioned we are working hard on testing the Crazyflies, camera streams and everything else. However, if you have urgent questions, feel free to contact us.