Challenge 2 Navigation

In this challenge the aim is to show that you have the ability to navigate the platform around a "race course" robustly. The track consists of markers to support localisation and gates that you need to pass through in the given order. You will have a map of markers, gates and any obstacles ahead of time. You are allowed to plan your path offline.

You can start the drone where ever you want inside the airspace and the time is started as you pass through the first gate.

Each group will be ranked based on how many gates they successfully passed, and if two groups are tied, time until last gate passed breaks the tie. Note that this puts an emphasis on robustness in that it is more important to pass all gates than passing only a few very fast.

Note: Like a true race track, we will have multiple laps. Suppose there are three gates in a lap, and two laps. Then we will put the 4th gate in the same position as the 1st gate, the 5th gate in the same position as the 2nd, and so on. Thus your system doesn't really need to know that there are multiple laps in the same track, to the system it simply looks like a linear progression.

Timeline

• Challenge map available: 27th of March, 10:00
• Challenge track available: 2nd-3rd of April
• Challenge video deadline: 3rd of April, 23:59

Test Track in Room 304

We will build a test track in room 304 available on the 2nd and 3rd of April, both for testing and recording of your submission video. You will have exclusive access to the track for 15 minutes in slots that start on the hour, 15 passed, half hour, and 15 to the next hour. There will be no online registration, but rather drop-in with a paper sheet to handle scheduling. The track will be open between 10:00 and 16:00

DIY Test Track

You are also both allowed and encouraged to build your own test track from the map you are given. We will accept submissions from runs in the test room or your own home-grown track as long as it is the actual challenge map. The map will contain about half a dozen gates.

Submission

You will submit a real-time video feed of the drone's on-board camera from start to finish. You can include the ArUco overlay or any other graphics that you might find useful, as long as it is possible to track your progress through the race course. It would for example be very helpful if you had a picture-in-picture inlay showing your drone moving through the race course from a third person perspective, for example from a smartphone recording.

Submit to the Navigation challenge assignment page. Do not use exotic codecs or enormous files.