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11º IEEE Students Latin American Robotics Competition Rules of the OPEN category
Version 1.1 – February 7th, 2012

Beach Cleaner Robot
1. Introduction
This year the IEEE Students Latin American Robotics Competition focuses again in significant problems that society needs to deal with and at the same time challenging problems to the young Latino American roboticists. The goal of thecompetition is three-fold: (1) Investigate and propose solutions to the problem of accumulation of garbage on the beaches of Latin America, (2) Raise public awareness about the significance of environment pollution, and (3) Invite people to participate actively in solutions to prevent pollution and protect the environment. Beach pollution is caused by natural phenomena, such as red tide and hurricanes, andalso by the effect of human activity, such as garbage accumulation, drainage discharges and oil spills. Beach pollution causes serious damages to marine ecosystems, poses health risks to swimmers, damages fishing industry, and affects tourism on the beach. We call young Latino American people to image and build an autonomous robot able to collect solid garbage in a scenario simulating a beach ina tiny touristic island, illustrated in Figure 1.

Figure 1. Scenario of the Open category – Beach Cleaner Robot

It is worth to remark that the Beach Cleaner Robot competition is about service robotics in natural environments. For that, it is unfeasible to foresee detailed features of the elements in the scenario, such as the beach furniture, and the mannequin. The robots that participate inthis category are expected to deal with these elements in spite of the lack of details.

2. The goals
The ultimate goal is to have an autonomous robot looking for garbage around the environment, collect it, and dispose the garbage in a depot. The robot just can move, push or take just the garbage distributed around the environment. If the mannequin is touched by the robot, it will have apenalization in the score. The challenge of the contest is to have a robot moving around, looking at, collecting and leaving solid waste in a depot. The robot must collect and leave as most garbage as it can, without touching the mannequin and other objects around, moving on an irregular surface.

3. The scenario
The scenario is a 5.5 m round sand arena without walls mounted on a blue canvas of 6.0m x 6.0 m. The sand of the arena shall be dry construction sand. The measurements of the scenario are shown in Figure 2.

Figure 2. Measurement of the scenario.

The stand on the surface of the scenario can have hills of 5 to 10 cms of height, and variable diameter. Landmarks or signals of any kind can not be added to the environment. Even though the local committee looks for constructionsand that is dry and clean for the competition, construction sand may contain sand pebbles and may also stay moisturized. For that, the teams must prepare their robots to move over construction sand as it is. Once the competition has begun, the teams will play under the conditions of the scenario without arguing or making of any claims. There will be several objects randomly distributed within thescenario:  A beach chair, real size.  A beach umbrella, real size.  A real size mannequin, seating on the chair or standing up at the arena.  A ring of a height of 10 cm and a diameter of 70 cm., the garbage depot.  20 soda empty cans 12 US flo oz / 355 ml, painted in flat black, they simulate the garbage. A soda can is a garbage unit. Following figures show scenario details.

Figure 3.Scenario details.

Figure 4. Scenario details.

4. Lighting conditions
The environment can be placed indoor a gymnasium or in an outdoor patio of the LARC venue. Therefore, some parts of the scenario may be exposed to direct sunlight. For that reason, robots must be able to take any indoor/outdoor light conditions and then robot must be calibrated by teammembers for the lighting conditions of...
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