Robo_Lagori_Problem_Statement_v.2 - Shaastra

ROBO LAGORI
Robotics

1. INTRODUCTION
Lagori is a game originally from Karnataka, India, played by two teams in an unlimited area. A member of
one team (the seekers) throws a soft ball at a pile of stones to knock them over. Then the seekers try to
restore the pile of stones while the opposing team (the hitters) throws the ball at the pile. If the ball touches
breaks the pile, the opposing team gains points and seeker team continues to build the pile. But a team
member can always safeguard the pile by blocking the opposite team member or ball before they break the
pile. Now we change that by having seekers and hitters in each team. Seekers in each team build the pile and
hitters in each team try to attach the opponent’s pile. The team with tallest pile wins.
2. MISSION
The Mission of the problem statement is to build the tallest stack with in the given time limit. Each match will be
between 2 teams (Green and Blue). Each team needs to build two Robots, “Stacker Robot and Attacker Robot”.
Stacker Robot has to collect blocks from the common zone and should stack them in their circle zone. Attacking
Robot can help the Stacking Robot to build the stack OR can “ATTACK” opponent’s stack. If a team wants to
attack opponents stack and destroy it, they have to pass through some obstructions in their zone, which will be
explained in “ARENA DESCRIPTION” part of the problem statement. For attacking, a team can design shooting
mechanisms to launch the balls which are already placed at different positions of the arena or by directly hitting the
opponent’s stack.
Fig 1: ISOMETRIC VIEW

3. ARENA DESCRIPTION
3.1 The Game Field consists of a Game Area having the dimension of 5000mm X 5000mm which is equally
divided for two teams, ”the GREEN Team” and “the BLUE Team”. The game field is symmetric about
the centre line in the arena. The game field is equally divided into four quadrants two for each team.
3.2 Explanation of arena quadrants: check the top view with markings of alphabets A, B, C, D.
3.2.1 Zone A- Home quarter of blue team, green team can never enter (it includes surrounding wall
separating blue and green zones.
3.2.2 Zone D- Home quarter of green team, blue team can never enter (it includes surrounding wall
separating blue and green zones.
3.2.3 Zone B- Non home quarter of green team, blue and green team can enter it whenever it want in the
whole match but blue team will get a violation if any of the green team’s bots touches it in that zone.
3.2.4 Zone C- Non home quarter of blue team, blue and green team can enter it whenever it want in the
whole match but it will get a violation if any of the blue team’s bots touches it in that zone
3.3 Common Zone: This Zone is in the middle of the game field where 30 wooden blocks with dimensions
as 150mm X 150mm X 100mm are kept. Distance between each block in the common zone will be
around 50mm. The common zone consists of 2 special blocks out of 30 which are in the middle of the
common zone. Special blocks are of same dimensions of the normal block but they differ in colour.
3.4 Circle Zone: This zone will be present along the centre line, which divides the game field. This zone will
be on the side of Robots starting area, and is placed such that half the zone (semi-circle) is on the GREEN
Arena and the other half on the BLUE Arena. Diameter of the Circle is 700mm. The stack is to be
constructed in this zone.
3.5 Obstructions include:
3.5.1 Wall: Wall separates the ARENA (GREEN/BLUE) in to two parts. Wall dimensions are Height-
50mm, Width- 30mm.
3.5.2 Slot: It’s a rectangular slot with dimensions, height and width of 150mmX250mm respectively. A
small provision will be provided to pass wires of the robots.
3.5.3 Expandable Track: This track is at a height of 50mm from the base of the arena and starting and
ending of this arena are supported by ramps with around 10 degrees of inclination. Starting point of
the track will be of 30cm, outer to outer dimensions, and the end of the track will be of 35cm distance
apart.

Fig 2: FRONT VIEW OF OBSTRUCTIONS
3.6 Balls: There are 8 balls on a whole in the arena at the specified positions in the arena diagram. The balls
are normal tennis balls whose outer diameter is around 65 mm.
3.7 Ball supports: The balls are kept on pipes which are of 50 mm height and the outer diameter of the pipe
is 40 mm.
3.8 A wall of height 12mm and width of 30mm is used to separate GREEN and BLUE arenas.

4. GAME PROCEDURE
4.1 The Game is one on one match in which one team competes against the other team. On the blow of the
whistle the game begins.
4.2 Each trial lasts for 5minutes.
4.3 At the end of 5minutes game will be ended by a blow of whistle.
4.4 A team can enter their non-home quarter only for 45 seconds (example - Team Green can enter into zone
B only for 45 seconds and Team Blue can enter into zone C only for 45 seconds). Exceeding this time
limit will lead to penalty points which will be explained in violations section. See the figures.
4.5 60 seconds shall be provided for setting up of Robots before the match.
4.6 Only two members of each team will be allowed to enter the game arena
4.7 Only one team member is allowed to control one robot.
4.8 The robots shall be placed in their respective starting zones at the beginning of the match.
4.9 Tasks for Stacking Robot and Attacking Robot:
4.9.1 As soon as the match starts the robots have to collect blocks from the common zone and stack them
in the Circle zone in their home quarter.
4.9.2 It can defend the stacks from opponents Robots by extends its parts or by other acceptable
mechanisms.
4.9.3 This Robot can pass through the obstructions and attack the opponent’s stack.
Note: the terms stacker bot and attacker bot are just for nomenclature of the bots, it’s completely up to
the teams to decide, they can come with both attacking robots or both stacking robots or any
combination.
4.10 In a match, any team should not enter the home quarter of the opponent team. (For example - Team
Green can’t enter Zone A and Team blue can’t enter Zone D)

Fig 3 : TOP VIEW
Fig 4 : DIMENSIONAL TOP VIEW

5. SCORING
5.1 Each block in the Circle Zone at the end of the match carries points. The number of points depends
upon the level of the block in the stack
5.2 Level is the difference of height between the top face of the block to the ground divided by 10.
5.3 The points per block in the stack increases in a series of Arithmetic progressions whose common
difference varies.
Level of the block
in the Stack
Points per block
in the level
Level of the block
in the stack
1 10 9 210
2 20 10 270
3 30 11 330
4 50 12 390
5 70 13 470
6 90 14 550
7 130 15 630
8 170 16 730
Point per block
in the level
5.4 Points for placing special blocks in the stack = points for that level * 2. (Example: A special block is
placed in the 5th level of the stack the team will be getting 2*60 =120 points for that block)
5.5 Points for successful displacing opponents blocks = number of blocks displaced * 20 (Displaced from
the level means the level of the block initially and finally are not same)
5.6 Points for destroying the stack by throwing the balls = number of blocks displaced * 40.
5.7 A team will be awarded 100 points extra if the team enters their non-home quarter using expandable
track and 50 points extra if team does the same using slot or wall.
5.8 If a bot is touching the stack at the end of the match the team will be given half the number of points
of that stack.
5.9 In case of any violation, the score of 50 points will be deducted from the total team score. (Refer the
violations part for Violations).
5.10 The final score will be: {Maximum of (P/2, Q)} +X- U
5.10.1 P=maximum points achieved from the stacks at any point of time during the match.
5.10.2 Q=total points attained from the stacks in the end of the match.
5.10.3 X=Attacking points.
5.10.4 U=Points deducted because of violations.
For example, a team builds a stack of 10 blocks and they were attacked by the opponent team and in the
final stack there are 4 blocks and suppose it was also successful in attacking and displacing 3 blocks to a
lower level in the opponent’s stack. In addition to that, the team has done 2 violations during the match.
Therefore, the team will get maximum (1050/2, 110) +60-100 which is 485.

6. VIOLATIONS
6.1 In case of any interaction (even if the wires used for controlling of the both teams touch) between the
robots of the different teams, It will be considered as a violation to the team whose part of it is in
opponents zone (even in air space) (Even if the host team intentionally hits the opponents robot in its
air space it is an violation to the opponent team only).
6.2 In case of any bot enters the home quadrant of the opponent team (where the opponent team is building
the stack) it will be considered as a violation and it needs to restart from the starting point again.
6.3 In case of the violation, the game will be given a pause and the effect of the violation (if the stack was
affected) will be nullified (the stack will be placed as it is) the bot which caused the violation need to
take restart from the starting point of that particular bot.
6.4 If violation occurs after the stack is attacked, the blocks will not be placed back but the attacker will
gets -50 and it needs to get back to the starting point.
6.5 Not obeying referees calls will result in immediate disqualification.
6.6 In a case of violation, the robot should be immediately lifted up and placed back in the starting zone
where as in case of penalty it is not required.
6.7 In case of any issues to be discussed only one guy in a team have a chance to talk to coordinators if
anyone else does that the team will be given a violation or lead to disqualification.
7. PENALTIES
7.1 Intentionally touching either blocks or robots with hands will be considered as penalty and 25 points
will be reduced from the total score.
7.2 If a person comes between the ball thrown by opponents and their stack to protect their stack a 100
points penalty will be given to the team the person belongs to.
7.3 Going to opponents or non-home quarter of a team through common zone is not allowed and if a team
doing this will be given a penalty of 50 points.
NOTE: Penalties will be given by coordinators and coordinator decision will be final.
8. RETRIES
8.1 In case of any technical glitch in any manual robot, the robot can be brought back to the start zone.
8.2 A retry can be opted at any time in the match. This retry can be opted for as many times as necessary
without any penalty.
8.3 The referee needs to be informed before going for a retry.
8.4 Mechanisms on the robot cannot be changed during the course of the match.

9. DESIGN AND MANUFACTURING OF ROBOTS
9.1 Each team shall use only two manual robots.
9.2 Maximum dimensions of the robots at the start of the game are 350 mm in width, 350 mm in length and
400mm in height. (However it’s preferable for the teams to have a pole on them to attach the wirings to
the remote then the height of the pole need not be less than 400mm
9.3 The robots can extend after the start of the match.
9.4 Maximum allowable weights of the robots combined are 15kgs.
9.5 The robots must not use readymade parts and shall be designed and constructed by the students
themselves, failing of which the team will be disqualified.
9.6 Manual robots have to be operated by means of cable connection. The length of the cable should be at least
3 meters. Wireless radio control is permitted.
9.7 The manual robots can be powered only by batteries (DC voltage) and no other means of energy can be
used. The maximum voltage between any two points can be 12V.
9.8 Hydraulics or chemical energy should not be used for any mechanism, however pneumatics can be used
and in case of use the pressure should be less than 6 bars.
9.9 If a team is using LiPo or Li-ion batteries, it is the team’s responsibility to make sure there is no risk
involved in its usage.
9.10 The robots or the operators cannot modify the arena in any case.
9.11 Readymade controller boards/development boards cannot be use.
9.12 If a self-designed PCB is used, a copy of the Gerber file or schematic has to be produced before the match.
9.13 In case the bots exceed dimensional and weight constraints, no tolerances will be given.
10. RULES AND REGULATIONS
10.1 A robot cannot split into two subparts. Subpart implies a robot which has a drive mechanism of its own.
10.2 The manual robot operator can walk on the arena but should not disrupt any part of the arena.
10.3 The two operators are allowed to touch their corresponding robots only during a retry & start of the match.
10.4 All the statements written in this Problem Statement form the official framework of the rules to be
followed by the teams. Violation of any statement in the Problem Statement may lead to disqualification.
10.5 Damage to arena is unacceptable and will lead to instant disqualification.
10.6 The robot exceeding the weight constraints shall be disqualified.
10.7 Referees have all rights to ask the teams to produce the additional explanations on design issues. Also the
referees can ask for additional explanation on the safety of the bots if required anytime during the event.
10.8 Participating robots will be checked and tested, according to these rules and regulations
11. CAVEAT
11.1 Game field dimensions are subject to a tolerance of ±5 %. No tolerances will be given in case of
maximum bot dimensions.
11.2 The authenticity of any action not provided for in this rule book shall be subject to discretion of referees.
Note: - Problem Statement, Rules and Scoring may change and all changes shall be reflected in the Shaastra
website. And, hence the teams are responsible for keeping themselves well informed about the event.
Keep visiting the website www.shaastra.org for updates regarding the event.
For any queries please mail robotics@shaastra.org with the subject as “Query :< query-topic>”