Question about the rules

[sjh990]

Hi, we have a few additional questions about the competition.

1. we've checked the new updated map. Is this the final map for the competition?
2. Do we have to publish the Aruco marker detection results? Or do we have to save it? We want to know what the final form of the result should be.
3. Does the mission time includes charging? if all the drones are being charged, do we have to wait for 10 minutes(physical) of charging?
4. We know that the agents should be 5 +-1 but we still don's know the exact number. Is this determined?

Thank you.

[fpetric]

1. Maps will be different for evaluation
2. They need to be published to the correct topic, see submission instructions
3. You dont have to wait for full charge, you can leave base at any point. Mission time includes all phases (hovering, flying, charging, crashing etc)
4. It will be different for different worlds, you should rely on the cf list / spawn file to check how many are there

[fpetric]

You need to return to base if you want to end mission yourself before the time expires. If the time expires, the UAVs do not need to be in the base for the points to count.

[NaneHakh]

Hi! I’d like to clarify the scoring rules regarding mission timing. Specifically, do we get extra points if we manually end the mission before the time expires or is there any penalty if we don't end mission ourselves? Thanks in advance for the clarification!

[fpetric]

There is no difference between returning to base at 29:59 and declaring mission end at 30:00 and getting stopped wherever the UAVs are at 30 minutes. There is no penalty for hitting time limit. You will get more points if you find 4 tags in 25 minutes than if you find 4 tags in 30 minutes, but less than if you find 5 tags in 30 minutes (i.e. the tags are way more important than the time).

[vihaan211005]

Do we need to pass the flag /mission_done even if we don't return to the base at 30:00. Would the mission be killed manually by you after the time limit of 30 minutes.

[fpetric]

No need to publish when hitting the time limit, that flag is used when you want to end early.

[tanzhengo]

export COMM_RANGE=70 Will this parameter be changed after submission?

[fpetric]

Yes