First competition day ended

Today, we arrived a little bit earlier at lab from Instituto tecnico superior(IST), because of the start of the first competition day of the ERL-SR.

Last-minute preparations before the first trial
Last-minute preparations before the first trial.

At 10am we had 3 runs in the navigation challenge, which were pretty good. We approched waypoint 1 including simple path replaning due to a blocked route, passed to waypoint 2 where a person, a small object or a big object is blocking Lisas path. In order to get points for waypoint 2, Lisa has to distinguish the object wheter it’s moveable by the robot or not and react appropiately or ask for help otherwise.

Sadly, we can not recognize the small object, which blocked the way two times, because our laser scanner is mounted to high. So, Lisa pushed it “gently” out of way. In one of the three runs, a chair was correctly recognized and Lisa asked the referees to remove it from the path.

Referee Metteo is starting to guide Lisa through the hallway
Referee Metteo is starting to guide Lisa through the hallway.

Waypoint 3 included following, which does not work well, because the referee is imediatley covered by a corner of the hallway and the laser scanner could not keep track. But we did our best and have some time for improvements and the referees changed the position of waypoint 3 for the upcomming run tomorrow.

At 11am Lisas abilities in general purpose were tested. We choose command category 2 consisting of more complex grammar than category one and also more complex tasks. The speech recognition part worked very well, excepting one trial. The command-execution had some difficulties with following and object manipulation. All other tasks were executed well.

After lunch we had a second run for both task benchmarks. Navigation were constantly good and we recognized the blocking objects at waypoint 2 correctly.

GPSR had the same issues than in the first run, but we chose command category one. When Lisa was about to grasp an apple from the kitchen table to deliver it at the cabinet a small mistake happened. She had to get some space in front of her to safely operate the arm. Driving back accordingly was a bad idea, because there was no room and Lisa slightly smashed into the kitchen counter. After some moments of pure silence we heard her saying: Knock knock. Everybody started to laugh.

Last but not least, here are the scores for 2 out of 3 runs:

First run

TBM4, Run 1, Trial 1: 1/2 (3D object) TBM4, Run 1, Trial 2: 3/1 (Small object) TBM4, Run 1, Trial 3: 3/1 (Small object)

TBM5, Run 1, Trial 1: 4/1 (Cat 2: find a person in the bedroom and follow them) TBM5, Run 1, Trial 2: 3/0 (Cat 2: take the apple from the kitchen cabinet and put it on the bookshelf) TBM5, Run 1, Trial 3: 4/1 (Cat 2: navigate to the kitchen find a person and follow them)

SocRob (A/P)

TBM4, Run 1, Trial 1: 0/1 (3D Obstacle) TBM4, Run 1, Trial 2: 3/1 (Person) TBM4, Run 1, Trial 3: 0/2 (Small obstacle)

TBM5, Run 1, Trial 1: 0/2 (Cat 1: look for a person in the inside hallway and aswer a question) TBM5, Run 1, Trial 2: 2/1 (Cat 1: look for a person in the dining room and answer a question) TBM5, Run 1, Trial 3: 3/2 (Cat 1: go to the bookshelf look for Michael and tell what time it is)

Second run

Homer (A/P)

TBM4, Run 2, Trial 1: 5/1 (3D Big Obstacle) TBM4, Run 2, Trial 2: 5/1 (Person) TBM4, Run 2, Trial 3: 5/2 (3D Big Obstacle)

TBM5, Run 2, Trial 1: 2/1 (navigate to kitchen table look for the rice nd put it on the bed) TBM5, Run 2, Trial 2: 4/0 (go to the inside hallway look for waving person tell what time it is) TBM5, Run 2, Trial 3:%MCEPASTEBIN% 3/2 (take the apple from the kitchen table and put it on the kitchen cabinet)

SocRob (A/P)

TBM4, Run 2, Trial 1: 3/2 (Small box) TBM4, Run 2, Trial 2: 5/2 (Small box) TBM4, Run 2, Trial 3: 5/1 (Small box)

TBM5, Run 2, Trial 1: 2/1 (navigate to the bed look for Abigail and tell the name of your team) TBM5, Run 2, Trial 2: 2/2 (look for a person in the kitchen and answer a question) TBM5, Run 2, Trial 3: 3/0 (find the person in the living room and tell the name of your team)

A stands for achievements and P for penalties regarding to the official ERL-SR rulebook.

Some room for improvements, but we did manage to show a good first stand.