Clean Energy Recharging the World

ABU Robocon 2016 Bangkok

FAQ 1
ABU Robocon 2016 Bangkok Judge Committee

October 2015
(Using HYPERLINK for shortcut by clicking on your destination topic)

1) Game Field : G

2) Eco Robot : E

3) Hybrid Robot : H

4) Contest Activities : A

5) Restrictions : R

6) Others : O

Game Field (G)

G1

Q: Is pole of iron? Or other material?

A: Wind Turbine Pole is made of a hollow cylindrical Poly Vinyl Chloride
(PVC). Read more details in the rulebook.

G2

Q: Down Hill: In Figure 7, Are the all dimensions of Down Hill correct?
A: All Figures have been revised. Please dowload updated versions from the
website.

G3

Q: Please specify a detail of Wind Turbine Propeller such as material,

weight, magnetic force, etc.
A: The paddles of Wind Turbine Propeller are made of light weight material
such as Rubber, Plastic or Cardboard Paper. The magnet sheet can be
used for the magnetic ring-plated on the central base of Propeller. The
total weight of Wind Turbine Propeller is 130-150 g. The component of
Wind Turbine Propeller can be assembled as below figure.

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Back ring-plate

Front ring-plate

Propeller core

Three paddles
Magnetic ring-plate

Wind Turbine Propeller

G4

Q: Which type of paint will be used on the contest field of

ABU Robocon 2016?
A: It is emulsion paint.

G5

Q: Is propeller stationary or rotary?

A: It is stationary.

G6

Q: I have a question about field equipments; 3 Slopes and Hills. Where do

the grid lines change their direction (15 degree) on Hills or on Slopes or
both?
A: Refer to Figure 2. The grid lines of the 15 degree sections are located on
Hills.

G7

Q: The standard size of PVC pipe mentioned in rulebook is 114mm outer

diameter, but the standard size found in India is of 110mm outer diameter,
what do you suggest in that case?
A: Domestic organizers are advised to use the best possible materials and
adhere as closely as possible to the specifications laid down for the final
contest. However, the 114 mm outer diameter of PVC will be used in
ABU Robocon 2016, Bangkok.
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G8

ABU Robocon 2016 Bangkok

Q: What is the purpose of two strip lines on Wind Turbine Pole?

A: These two strip line can be used as the guideline for Hybrid Robot in the
task of pole climbing.

Strip lines

G9

Q: Please let me know description of Downhill, like center coordinates of

auxiliary circle in drawing of Downhill or from where to where is arc along
the auxiliary circle and from where to where is straight line with concrete
value like angle.
A: Please see the revised version of Down Hill drawing.

G10 Q. Is the game field structure (like Hills, Slope, River and Island, Highland,
Down Hill) made out of plywood?
Or is it made out of solid wooden blocks ?
Please specify the thickness of ply if plywood are used.
A. The game field is made from plywood with 20 mm of thickness.
G11 Q. Is wind turbine propeller provided by organiser's or contestants have to
bring their own? If it is provided by you then what will be the exact weight.
A. Wind Turbine Propeller is an equipment that organizer must prepare for
the contest.

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Eco Robot (E)

E1

Q: What is the definition of actuator?

A: Please read from Terms and Definitions section in the Rulebook.

E2

Q: Which electrical components in Eco Robot can be provided from a 24

VDC. Can you explain more details on mechanisms/actuators that can
be used in Eco Robot?
A: A supplementary definition of Eco Robot is described below:
Eco Robot has only one actuator that energy can be pre-stored. This
actuator with pre-stored energy must be used only for steering control.
Other mechanisms/actuators can be used in Eco Robot if their energies
are not pre-stored at the beginning of the game. However after the game
starts, these mechanisms/actuators are allowed to store and/or use
energy from external or surrounding sources for examples from Hybrid
Robot, from game field/structure, etc. External energy can be light,
sound, wind, magnetic, and etc.

E3

Q: Which electrical components in Eco Robot can be provided from a 24

VDC battery?
A: The main 24 VDC battery is allowed to supply electrical power to these
components of Eco Robot:
1) Micro-controller boards
2) One pre-stored energy actuator
3) Sensors
4) Switches or signal conditioning circuits

E4

Q: Can we use Potential energy, spring energy, mainspring energy for Eco
Robot ?
A: If the potential energy source is used to change Eco Robot direction, the
answer is yes with no constraint. However if the potential energy source
is used for driving purpose, the energy cannot be pre stored. Eco Robot
has to start to store energy after the game has started; for example by
receiving energy from Hybrid Robot, from the game field.

E5

Q: Is Wind Turbine Propeller regarded as a part of Eco robot?

processing?
A: No, Wind Turbine is not a part of Eco Robot.

E6

Q: Is it allowed to generate energy in Eco robot through the game from

Hybrid robot and to store in electrical or mechanical way.
A: Yes.

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E7

Q: Is it possible that steering actuators on Eco Robot affect mechanism of

Eco Robot? For example; steering actuators move sail.
A: Yes as long as the mechanisms connected with this steering actuator are
used only for steering purpose not driving purpose.

E8

Q: Is electromagnetic valve for example solenoid valve considered as an

actuator?
A: Yes.

E9

Q: Can we use an actuator in secondary mechanism in Eco Robot apart

from the steering mechanism, However the secondary mechanism will
not drive Eco Robot?
(As per rule number 4.2.2 of Robocon 2016 rulebook)
A: Yes.

E10 Q: Can Eco Robot store potential energy while climbing the hill(s) and use it
for driving in the river phase?
A: Yes.
E11 Q: Can Eco Robots dimensions be larger than the Eco Robot start zone and
Wind Turbine station?
A: Yes, however when Eco Robot is placed on Eco Robot Start Zone it must
follow these conditions,
1) A part of Eco Robot must be touching the surface inside Eco Robot
Start Zone.
2) No part of Eco Robot is inside Slope 1 including the space above it.
3) No part of Eco Robot is outside game field.
4) No part of Eco Robot is inside the opposing team area including the
space above it.
E12 Q: About the Definition of Steering. Does Steering include turning the
heading direction by controlling its position of the center of gravity and
ground angle of wheel(s) like a motorcycle?
A: Yes.
E13 Q: Is it permitted that Eco Robot store the force from Hybrid Robot or from
its motion? For example; to transform wind from Hybrid Robot into rotary
motion, store this motion to flywheel and drive wheel by using this force.
A: Yes.
E14 Q: Can we connect turbine to freely moveable wheels? This turbine will
receive wind energy from Hybrid Robot to drive Eco Robot wheels without
any power supply.
A: Yes.
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E15 Q: Can we use an energy conservator in the Eco Robot to store energy and
then use it later while crossing the river? For example ballon,spring.
A: Yes, but energy must not be pre-stored.
E16 Q: Can we use ultrasonic waves transmitted by Hybrid Robot to drive Eco
Robot?
A: Yes. However, please make sure that it is safe for all people in the venue
including participants, referees, and the audience.
E17 Q: Refer to Rulebook, the minimum size of Eco Robot is 40 cm x 40 cm x 40
cm. What is the minimum diameter in case of cylinder or sphere shape?
A: The minimum diameter is 40 cm.
E18 Q: Are we allowed to use rotate/ turn around the sail we are using in Eco
Robot for controlling direction of movement?
A: Yes.
E19 Q: Does Eco Robot need to be always touching the surface of the course?
I.e., is hovering (floating close to but not touching the surface) allowed?
A: Yes, Eco Robot has to touch the surface of the course. Hovering or flying
is not allowed. Likewise, during climbing Wind Turbine Pole,
Hybrid Robot has to touch Wind Turbine Pole all the time.

Hybrid Robot (H)

H1

Q: What is the maximum limit for the extension of the arm of the Hybrid
Robot?
A: Hybrid Robot must have its dimension no larger than 1,000 mm in width,
length and height all the time.

H2

Q: In the video(Theme) at 2:08 it is seen that Hybrid Robot's dimensions

(must be less than 1,000mm) exceeds considerably than the one stated
in the rulebook.
A: Video animation is just for demonstration to show overview of the game.
All exact details of game field and robots are described in the Rulebook.

H3

Q: Could Hybrid Robot separate or divide into two robots during the match?
A: No

H4

Q: Is it allowed to transform to fully-autonomous mode from semiautonomous mode by removing a controller?

A: No, any part of Hybrid Robot cannot be removed during transformation to
autonomous mode.
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H5

Q: Can we use Bluetooth for controlling Hybrid Robot?

A: No, the remote control must be cord/cable type.

H6

Q: According to Theme and Rules 4.3.2, the robot is allowed to expand,

stretch or extend as long as the dimension is still within the limit
dimension means that the robot must not exceed the dimension 1000mm
in width, length and height after extend?
A: Yes.

H7

Q: Is there any restriction in the number of types of driving force produced

by the Hybrid Robot to drive the Eco Robot? For example can the Hybrid
Robot use both wind force and magnetic force at the same time?
A: No, Hybrid Robot can deliver many kinds of force to Eco Robot without
physical touch.

H8

Q: Regarding rule 2.7.1, the Hybrid Robot retry section seems to be written
on the assumption it starts in manual mode. Is it correct to understand
that if its fully automatic from the beginning, restart would still be Start
Zone 1 for all retries prior to successful propeller transfer?
A: Yes.

H9

Q: Regarding rule 2.7.1, if a team asks for a retry of a fully automatic Hybrid
Robot after successful propeller transfer, then restart is at where it is
(Wind Turbine Station)?
A: It depends whether Hybrid Robot has already touched Wind Turbine Pole
or not after the propeller transfer. If Hybrid Robot hasnt touched the pole
yet, it can restart from Hybrid Robot Start Zone 2. If Hybrid Robot has
already touched the pole, it can restart from Wind Turbine Station in order
to climb the pole.

Contest Activities (A)

A1

Q: According to rule(10.3.2),"at the beginning of the game, Eco Robot has to

stay at Eco Robot Start Zone", how state of Eco Robot (that don't have
upper limit of dimension) is considered "Stay"?
A: See comments for E11
When Eco Robot is placed on Eco Robot Start Zone it must follow these
conditions,
1) A part of Eco Robot must be touching the surface inside Eco Robot
Start Zone.
2) No part of Eco Robot is inside Slope 1 including the space above it.
3) No part of Eco Robot is outside game field.
4) No part of Eco Robot is inside the opposing team area including the
space above it.
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A2

Q: If Hybrid Robot starts with fully autonomous mode but the autonomous
mode failed to complete the tasks, can it be reverted back to manual
mode again?
A, Yes.

A3

Q: Is it allowed to attach a permanent magnet(fixed on robot's body),

involved in attraction or repulsion with hybrid robot,on Eco robot,
for propulsion of the latter?
A: Yes, permanent magnet can be used for propulsion.

A4

Q: What is the definition of "Eco robot enters completely"?

A: Eco robot enters completely means:
Slopes and Hills: The backmost part of Eco robot must pass the line
separating between Slope and Hill including the space above the line
then score will be counted.
River: The backmost part of Eco robot must pass the line separating
between River and Highland including the space above the line
then score will be counted.
Down Hill: The front part of Eco robot must pass the line separating
between Down Hill and Wind Turbine Station then score will be
counted.

A5

Q: If Wind Turbine Propeller comes out of the Eco robot before the transfer
between Eco Robot and Hybrid what will be the restart position for the
retry for both robots?
A: The retry is compulsory for Eco Robot only. The restart position is referred
to the updated Rule 2.5.

A6

Q: When Eco Robot is asked for a retry. Is fully autonomous Hybrid Robot
necessary retry? If yes, what is the restart position of Hybrid Robot.
A: Hybrid Robot is not necessary for retry when Eco Robot is asked for retry.
The retry of Hybrid Robot is depends on the request from team members.
The restart positions of Hybrid Robot can be as following conditions:
1. The restart position is at Hybrid Robot Start Zone 1 if the transfer of
Wind Turbine Propeller from Eco Robot to Hybrid Robot has been not
successful.
2. The restart position is at Hybrid Robot Start Zone 2 if the transfer of
Wind Turbine Propeller from Eco Robot to Hybrid Robot has been
successful.

A7

Q: Is it allowed for Eco Robot to grab the path by any means which it is
following to avoid slipping or falling out of the path?
A: Eco Robot can touch only the top surface of traveling path. If Eco Robot
touch the side of traveling path or ground field the retry is compulsory
without points deduction.
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A8

Q: Can Eco Robot fly above the field object like Slope, Hill, River etc.?
Can Eco Robot climb the Wind Turbine Pole?
A: Not at all.

A9

Q: Can Eco Robot touch the areas other than its path i.e. Ground Area
(grey), Remote Driving Zone (brown) and No Entry Zone (pink)?
A: Eco Robot can touch only the top surface of traveling path. If Eco Robot
touch the side of traveling path or ground field the retry is compulsory
without points deduction.

A10 Q: Can Eco Robot be a line follower robot whose power is given indirectly
from Hybrid Robot?
A: Yes.
A11 Q: Should Hybrid robot start from the Hybrid start zone if the Eco robot is
taking a retry?
A: It is not necessary if Hybrid Robot is not asked for retry.
A12 Q: If Hybrid Robot is autonomous, can it start climbing the pole before
picking up the propeller from the Eco Robot or at least start climbing while
simultaneously picking up the propeller?
A: No, the fully autonomous Hybrid Robot can start climbing after takes
Wind Turbine Propeller from Eco Robot successfully.
A13 Q: If the Eco Robot initially moves by driving force given by Hybrid Robot but
still manage to move by its mechanism without any continuous supply of
driving force from the Hybrid Robot, is it allowed?
A: Yes.
A14 Q: If only Hybrid Robot asks for a retry, can the Eco Robot continue its
motion or it must be stopped during the retry?
A: Yes, Eco Robot can continue its task without retry.
A15 Q: Can frequency such as sound wave and etc. be used in this game as a
driving force for the Eco Robot? Provided it is not used for communication
between robots.
A: Yes.
A16 Q: Is it necessary to trace the lines on the arena (mainly Hills 1, 2, 3 etc) by
the Eco Robot?
A: No it is not necessary.
A17 Q: Is Eco Robot allowed to touch the islands in the river zone?
A: Yes. Since Eco Robot is not allowed to move straight from Hill 3 to
Highland, Eco Robot is allowed to touch Islands.
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A18 Q: According to Theme and Rules 5.6, does it means that Hybrid Robot can
only move out of the Remote Driving Zone after the Eco Robot is totally
out of the River or it can move out of the Remote Driving Zone as long as
any parts of the Eco Robot move out of the River?
A: Hybrid Robot can move out Remote Driving Zone when Eco Robot is
completely out River.
A19 Q: Can Eco robot physically contact Wind Turbine Pole?
A: Yes.
A20 Q: With reference to rule no. 2.5 from the rulebook. (Concerned with restart
positions) If Eco Robot falls off while moving downhill. Restart takes place
!
! from Highland. From which place does Hybrid Robot have to push Eco
!
! Robot forward in such cases?
A: Hybrid Robot can indirectly drive Eco Robot from any areas in the game
filed outside No Entry Zone that do not violate the game rules; e.g.
Hybrid Robot can drive Eco Robot from Remote Driving Zone, from the
game field shown in grey color (both left and right sides of Slopes
and Hills), etc.
A21 Q: After handing the Propeller to Hybrid Robot, can Hybrid Robot return it to
Eco Robot?
A: Yes, however the score in the activity of Wind Turbine Propeller collecting
will be cancelled if the Wind Turbine Propeller is returned back to Eco
Robot.
A22 Q: Can Eco Robot touch Wind Turbine Propeller it is completely transferred
to Hybrid Robot?
A: Yes, Eco Robot is allowed to touch Wind Turbine Propeller even it is
already transferred to Hybrid Robot completely.
A23 Q: After handing the Propeller to Hybrid Robot, is Eco Robot allowed to
move and climb the Wind Turbine Pole?
A: No, climbing Wind Turbine Pole and assembling Wind Turbine Propeller
are the tasks for Hybrid Robot.
A24 Q: After Hybrid Robot taking Wind Propeller from Eco Robot, can we move
Eco Robot from Wind Turbine Station Zone by either Hybrid Robot or
Team Members?
A: Yes, after referee permission, team members are allowed to move Eco
Robot
A25 Q: If the propeller falls from the Hybrid Robot after successfully picking it up
from the Eco Robot, where will the retry start from?
A: The restart position is at Hybrid Robot Start Zone 2.
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A26 Q: Can Eco Robot stay in the Down Hill zone or at least stay in contact with
it when Hybrid Robot picks up the propeller from Eco Robot?
A: Yes, Hybrid robot can start this action after the score for Downhill
traveling is already achieved and confirmed by referee.
A27 Q: About Rule 1.7. Can Hybrid Robot touch Wind Turbine Pole before Eco
Robot enters Wind Turbine Station completely?
A: Yes.
A28 Q: What is the definition of receiving the Propeller successfully?
A: It is successful when entire part of Wind Turbine Propeller is moved out
from Eco Robot by Hybrid Robot.
A29 Q: Rule no. 2.5 says, If Eco robot entered wind turbine station but Hybrid
robot does not successfully take wind turbine propeller out from Eco robot
completely; then both robots start at their last positions where they fail the
task. Where exactly should they restart from?
A: Please see updated Rule 2.5. Eco Robot restarts at its last position where
the task was fail. Hybrid Robot restarts at Hybrid Robot Start Zone 1.
A30 Q: Can we change the position of the propeller on Hybrid Robot while we
are transforming Hybrid Robot to autonomous mode?
A: Yes.
A31 Q: After Hybrid Robot is transformed to autonomous mode, can it touch Eco
Robot?
A: Yes.
A32 Q: Can Eco Robot achieve Chai-Yo by assembling the Wind Turbine
Propeller?
A: No, it is the task for Hybrid Robot.
A33 Q: What is the definition of climbing in detail?
A: Hybrid Robot with Wind Turbine Propeller moves upward along Wind
Turbine Pole. There must be some parts of Hybrid Robot touch Wind
Turbine Pole all the time while it is climbing from the ground.
A34 Q: While climbing the pole does the Hybrid robot have to leave contact with
the ground?
A: Yes.
A35 Q: What is the definition of assembling the Wind Turbine Propeller?
A: Hybrid Robot attaches Wind Turbine Propeller on Wind Turbine Engine.
After attaching Wind Turbine Propeller must stay on Wind Turbine Engine
by itself at least 3 seconds.
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A36 Q: Does that second white strip on green pole means that the hybrid robot
should reach their to connect propeller at the end of the game?
A: The strip lines are used as the guideline for Hybrid Robot in the task of
pole climbing.
A37 Q: Can Hybrid Robot touch Wind Turbine Engine?
A: Yes.
A38 Q: Can Hybrid Robot touch Eco Robot again after Hybrid Robot receives the
Propeller and starts climbing the Pole?
A: Yes.
A39 Q: Is there a minimum height that the Hybrid Robot should reach when
climbing up the Wind Turbine Pole?
A: There is no minimum height but the dimension of Hybrid Robot must not
exceed 1,000 mm in width, length and height all the time.
A40 Q: Is it necessary to touch the pole while climbing?
A: Yes.
A41 Q: What is the total points after achieving Chai -Yo if the team has some
violation points?
A: The score is always recorded to 100 points for the team achieving
Chai-Yo. The maximum score is 100. No matter how much points
deduction, if a team achieve Chai-Yo, the team gets 100 points.
A42 Q: As soon as the propeller is successfully transferred to Hybrid Robot, Eco
Robots mission will be completed. Considering safety of the both robots.
Is it possible if team members touch and move the Eco Robot out of
the Wind Turbine Station, by asking for a retry?
A: Team members are allowed to move Eco Robot that completed its
missions out of the game field after getting permission from the referee.
A43 Q: Can Eco Robot move outside the Wind Turbine Station while Hybrid
Robot takes the Propeller?
A: At least some parts of Eco Robot have to be inside Wind Turbine Station
during Propeller transfer. If Eco Robot moves outside Wind Turbine
Station completely, retries of both robots are compulsory. Eco Robot is
restarted at its last position where Eco Robot is inside Wind Turbine
Station. Hybrid Robot is restarted at Hybrid Robot Start Zone 1.

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A44 Q: Can Hybrid Robot touch and move Eco Robot out off Wind Turbine
Station to a safe place after successful Propeller transfer?
A: No, it is not allowed. Its the responsibility of team members to ask
permission from the referee before moving Eco Robot that completed all
its missions out of the game field.
A45 Q: Can Eco Robot touch the Accident Protection Guard while going
through Down Hill?
A: No, if Eco Robot touches Accident Protection Guard, a retry is
compulsory.

Restrictions (R)
R1

Q: Are we considered as a violation if the wind which our Hybrid Robot

makes reach to opposite team's robots? If it is not a violation, isn't it a
violation to disturb opposite team's Robot?
A: No, it is not violation. However the team which intends to disturb
opponent will be disqualified under Rule 6.2.

R2

Q: Are we allowed to skip tasks on the way to goal?

A: No.

R3

Q: Can Hybrid Robot touch the track of the Eco Robot path, without actually
coming in contact with the Eco Robot?
A: No, it is violation. Five points will be deducted under Rule 5.4.

R4

Q: Can a robot move by sensing movements of a team member outside the

field?
A: No.

R5

Q: Can Eco Robot go straight without touching the island?

A: No, Eco Robot is not allowed to move straight from Hill 3 to Highland. If
Eco Robot moves straight along River, the retry will be compulsory for
Eco Robot without point deduction.

R6

Q: Can the Hybrid Robot use alternative ways to climb up the Wind Turbine
Pole without touching the pole, for example using propeller?
A: No, there must be some parts of Hybrid Robot touch Wind Turbine Pole
all the time while it is climbing until Wind Turbine Propeller assembly.

R7

Q: Can the Hybrid Robot transfer some parts to Eco Robot when the Hybrid
Robot takes the Wind Turbine Propeller from the Eco Robot at the Wind
Turbine Station?
A: No, Hybrid Robot cannot separate any parts from itself.
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R8

Q: Can I use water power as indirectly power? (Water separate from Hybrid
Robot, or we maybe wet field.)
A: No, the team cannot use water or any liquid that makes the game field
wet or dirty.

R9

Q: Is it allowed to use devices which will communicate with the robots from
outside of the game field?
A: No.

R10 Q: If Eco Robot is sending data to Hybrid Robot but Hybrid Robot is not
sending any data back to Eco Robot, is it allowed?
A: No, data transmission is defined as communication.
R11 Q: According to the Theme and Rules 5.4, can Hybrid Robot also touch the
side wall of Slopes, Hills, River, Highland and Down Hill?
A: No, it is violation. Five points will be deducted under Rule 5.4.
R12 Q: Is it allowed that Hybrid Robot drives Eco Robot by shooting some
objects such as ball to Eco Robot?
A: No, The objects are considered as parts of Hybrid Robot and cannot be
separated.
R13 Q: Is it allowed that Eco Robot and Hybrid Robot are united?
A: No, it is not allowed.

Others (O)
O1

Q: Are we permitted to boost power source voltage from DC 24V or below to

more than DC 24V?
A: Yes, however the teams must be cautious on safety during design and
build the robots.

O2

Q: If a compressor is used prior to the match, will the weight of compressor

be included in the max 40kgs limit?
A: No.

O3

Q: If any equipment is used during the retry to setup the robot, will its weight
be included in the max 40kgs limit?
A: No.
Q: How detailed does the precision of the time?
A: The time resolution of scoreboard is second unit.

O4

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O5

Q: About Rule 4.1.3. Does "communication between robots" include Eco

Robot carrying AR marker, changing colors of LEDs on Eco Robot or
flickering them in order to detect that Eco Robot passed the River?
A: No. This action is considered as sensing and recognition not
communication between robots.

O6

Q: What is the definition of communication? As in, communication

between robots are not allowed.
A: Communication occurs when robots transmit data. However sensing or
recognizing physical sign generated by the other robot is allowed and not
considered as communication between robots.

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