Extended specifications

• PICO
  • Dimensions of 42 cm x 40 cm x 108 cm (LxWxH)
  • Maximum translational speed of 0.5 m/s
  • Maximum rotational speed of 1.2 rad/s
  • Maximum idle time of 30 seconds
  • LRF
    • Range of 0.1 to 30 m
    • Accuracy of ± 10 mm
    • Horizontal field of view of 270°
    • Resolution of 0.25°
    • Frequency of 40 Hz
  • Odometry
    • Accuracy is mainly determined by the slip of the omni-wheels
• Corridor competition
  • Maximum of two attempts within 5 minutes total
  • Penalty of 5 seconds or 1 attempt when slightly touching or bumping a wall
  • Corners are approximately 90°
  • Walls are approximately parallel to each other
  • Distance between walls can range from 0.5 to 1.5 meter
  • Distance from start to finish is between 1 and 10 meters
  • Start is located between the walls in the main corridor
  • Finish is located 0.3 meter inside a side corridor on either the left or right
  • Main corridor has open ends
• Maze challenge
  • Maximum of two attempts within 7 minutes total
  • Penalty of 5 seconds or 1 attempt when slightly touching or bumping a wall
  • Corners are approximately 90°
  • Walls are approximately parallel to each other
  • Distance between walls can range from 0.5 to 1.5 meter
  • Distance from start to finish is unknown
  • Start is located inside the maze, but outside a door area
  • Finish is located on the boundary of the maze behind a door
  • Can contain loops, open spaces and more than one dead end
  • Contains one door and it is located at a dead end
  • A dead end is between 0.5 and 1.5 meter wide and at least 0.3 meter long
  • A door area is located in front of a door and is 1.3 meter long
  • Door opens when PICO is inside the door area, stands still and sends a request
  • Door starts opening within 2 seconds and is fully opened within 5 seconds
  • Door opens to the left or right with approximately constant velocity