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requirements.md

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Technical Requirements for a Simulated Competition

Physics Engine

There needs to be a realistic physics model which can:

  • Plausible boat speeds for a given sail position.
  • Realistic turning speeds from rudder movement.

Nice to have

  • Waves
  • Tides and Currents
  • Wind gusts and shifts

Interfacing

  • NMEA0183, using GP, HD and II strings for simulated boat position (GPS), orientation (compass) and wind direction sensors. Accept autopilot style commands for setting rudder and sail positions.
  • Mavlink
  • ROS
  • REST API

Graphical Output

Graphical output showing a representation of the boat(s) in a 2D or 3D world. Ideally it should be possible to show some simulated terrain too.

Mapping Application Output

  • ROS applications, Rosviz
  • Mavlink, QGroundcontrol/APM planner
  • OpenCPN, use NMEA GPS or AIS
  • WRSC Tracking API

Multi-robot Simulation

  • Simulate AIS messages to make boats aware of each other's position.
  • Use the tracking API to access other boat's position or do a collaborative area scan.
  • Simulate a RADAR or LIDAR sensor to find another boat.
  • Simulate a camera view to detect another boat visually.

It would be more visually appealing to see multiple boats in the simulation environment's video output. Failing that it could be shown on a tracking map with each boat running in its own simulator.

Recording Output and Judging

Live Streaming

  • Stream live video of the simulation software and/or a map
  • Use the same web based mapping interface as we've run at competitions?

Hosting Environment

How should a competitor run their code?

  • Run on a server provided by the organisers?

  • or should it interact with a simulator over the internet?

  • Will latency/speed of the computer provide some teams with an unfair advantage/disadvantage?

  • We could run everything on a cloud instance. Competitors will need to have a way to launch their code. Do they get SSH access or does code get executed on their behalf?

  • If SSH access is granted how do you stop somebody running when they shouldn't?

  • What are the computing requirements for running this on a cloud instance? How much will it cost? Are the free tiers which offer a single low end CPU and 600-1000MB of RAM enough?

Testing Environment

  • Competitors need to test their code outside of the main competition environment.
  • Need to be able to run the simulator on their own computers.
  • Should we provide a constantly running test environment in the cloud?

Competition Events

  • Triangular course. Will everyone do it in the same time if their code works ok? Different tacking strategies as a differentiator?
  • Station keeping. Keep the boat within X metres of a given point for Y minutes.
  • Area scan. Visit a set of (every??) square in a grid.
  • Collaborative area scan. Do the above with another boat. Communicate to split up the task? Just watch where they are?
  • Collision Avoidance. Use simulated AIS/RADAR/LIDAR/camera to avoid another boat. Attempt to navigate across a busy shipping lane?
  • Sail in convoy. Keep a target distance from another boat.