ROBOTAXI CONTEST TERMS AND CONDITIONS

ROBOTAXI CONTEST TERMS AND CONDITIONS

1. Purpose Autonomous vehicles are no longer imaginary concepts as they were depicted in the 90s science fiction series. Today, many technology companies are conducting research and development activities on this subject with large budgets. Currently, autonomous vehicles are driving in urban traffic in some pilot regions of the US. By 2020 it is estimated that there will be 10 million autonomous vehicles in traffic. According to Turkey Statistics Institute s (TÜİK) 2015 data, driver faults were behind 88.6% percent of the traffic accidents. Autonomous vehicles may have a high contribution to traffic safety because they minimize the human error. In addition, autonomous vehicles can eliminate improper route choice and selfish driver behavior, which are of great importance in traffic. Autonomous vehicles are likely to be the indispensable elements of the future cities. The Robot Taxi Competition is designed to support the development of autonomous vehicle technologies in our country. 2. Participation Conditions The competition may be attended individually or in teams. Teams can consist of no more than 4 people. The competition consists of two categories: secondary education (basic category) and higher education (advanced category). Participants at the secondary level can register in either one or both of these two categories. Higher education or higher-level participants can only register for advanced categorization. Application form must be completed by April 1 st 2018. In the application form, the following should be indicated: a. Team information and contact numbers, b. Requested sponsor needs. Applications will be made on TEKNOFEST ISTANBUL Aerospace, Space and Technology Festival Competitions (www.teknofestistanbul.org) official website. 3. Competition Field The competition area will be on a 1:10 scale model of the Sultan Ahmet Mosque and its surroundings (see Figure 1). Avenues, streets and structures will be represented in the competition area in miniature forms.

Starting direction x y y Starting point and parking area Finishing direction Figure 1: Area of Competition

3.1. Roads The roads are lanes divided with yellow bands on a black background (see Figure 2). In some parts, the roads may be in the form of a single lane, and in some parts of more than one lane. In the middle of the lanes, there are road lines made of white tape so that robots competing at the basic category can easily follow the lanes. Robots in the advanced category are forbidden to follow these lines. There may be fixed obstacles (road work, other vehicles, etc.) at certain points on the road. The robots have to proceed without crashing into these obstacles. 200mm 19-20mm 400mm 19-20mm 800mm Figure 2: Road Dimensions

3.2. Traffic Signs At some points on the road there are traffic signs. Robots must comply with the relevant marks according to the category they compete. 3.2.1. Traffic Lights (Advanced Category only) Figure 3: Traffic Light The traffic light consists of one red light and one green light. The red light detects the approach of the robot and automatically lights up and continues lighting for 30 seconds. These lights are present in one or more of the compulsory ways. For this reason, every robot will certainly be caught in the same number of red lights. Green light lights for 30 seconds. The traffic lights are located on the right side of the road. See Figure 4 for dimensions. 2.5 cm 1.5 cm 4 cm 8 cm 4 cm 20 cm road 5 cm Figure 4: Traffic Light Dimensions

3.2.2 No Right/Left Turn Signs (Advanced Category only) No Right Turn No Left Turn Figure 5: No Right/Left Turn Signs These signs are located on the right side of the road, at the end of an avenue or street. See Figure 6 for dimensions. 6cm 6cm 20cm 5cm Figure 6: Traffic Sign Dimensions

3.2.3 No Entry Roads (Advanced Category only) Figure 7: No Entry Road Sign These signs are located on the right side of the road, at the beginning of an avenue or street. See Figure 7 for dimensions. 3.2.4 No Parking Signs (Advanced Category only) Figure 8: No Parking Signs These signs are located on the right side of the road, at the beginning of no parking areas. See Figure 6 for dimensions. 3.2.5 Taxi Stop Sign (Advanced Category Only) These signs are located on the right side of the road, at the passenger pick-up / dropoff points. See Figure 6 for dimensions.

3.2.6. Traffic Light Line (Basic Category only) 19-20mm Figure 9: Traffic light line The traffic light lines are made of 19-20 mm red tape and are located perpendicular to the road. Only robots competing in the basic category should stop and wait for 30 seconds when they arrive in this line. The robots can continue their movement after 30 seconds. 3.2.7 Passenger Pick Up / Drop off Point Lines (Basic Category only) 19-20mm Figure 10: Passenger Pick Up / Drop off Point Lines

Passenger pick-up / drop-off points are made from 19-20 mm green tape and are located perpendicular to the road. Only robots competing in the basic category should stop and wait for 10 seconds when they arrive. Robots can continue their movement after 10 seconds. 3.2.8 Parking Spot Lines (Basic Category only) 19-20mm Figure 11: Parking Spot Lines The parking lines are made of 19-20 mm blue tape and are located at the entrance of parking spaces perpendicular to the road. Only robots competing in the basic category should seek alternative parking when they detect this lane. 3.2.9 Parking Area Parking area is located at the end of the track (which is also the starting point of the track). Parking lots are oriented as shown in Figure 12. The locations of unpermitted parking lots in the figure are only example locations; the real locations of unpermitted parking lots may differ in the competition.

600 mm 800 mm Figure 12: Parking Area (Unpermitted parking spot locations are example locations only) 3.2.10 Color Codes The color codes for the various road signs and lanes are given in Table 1 below. Road sign/line type Color Code Yellow lane lines RAL 1023 Red traffic light lines RAL 3020 Green passenger pick up drop off lines RAL 6024 Blue no parking lines RAL 5017 White lane lines RAL 9016 Table 1 Color Codes

4. Robot The robot must be autonomous. It can be started with the start / stop button or with a remote control. The remote control can only be used to start the robot motion. Afterwards it cannot be remotely controlled. Robot dimensions should be no more than 50 cm (length) x 20 cm (width) x 40 cm (height). The robot cannot increase its dimensions and cannot cause any danger (such as releasing flammable or harmful gas, liquid, solid matter, etc.). Only the robots competing in the advanced category will receive the information of the passenger pick-up and drop-off locations during the competition via Wi-Fi communication. The communication protocol is explained below. 4.1. Communication Protocol (Advanced Category only) Starting Bits (0xFFFF) Location Type x-coordinate y-coordinate 0 2 3 7 11 Figure 13:Location Information Packet format y Starting Point The total packet length is 11 bytes. The first two bytes contain the start bits at 0xFFFF. The next 1-byte expresses the position type. This byte is 0 for the passenger pick-up point and 1 for the passenger drop-off point. The x-coordinate and the y-coordinate are 4-byte littlex Figure 14:Coordinatesystem Passenger pick-up and drop-off points are transmitted to the robots in unicast form over the TCP protocol using the wireless IEEE 802.11 b / g / n communication standard. The robot connects to the listening server at 192.168.1.100:9999 and receives the location information in the packet format shown in Figure 13.

endian signed int numbers containing the coordinates of the passenger pick-up/drop off points on the map relative to the first starting position of the robot in centimeters. For example, the location package sent for the passenger pick-up point 10 m ahead and 10 m right from the starting point of the robot will contain the following bytes, respectively. 0xFF 0xFF 0x00 0xE8 0x03 0xE8 0x03 10m = 1000cm = 0x03e8 (Hexadecimal) 5. Competition Applicants are due to fill in the preliminary report until 15 th May 2018. The sample form of the report can be found from the following link; http://teknofestistanbul.org/content/files/teknoloji/raporsablonu/ontasar%c4%b1m_rapor_taslak-robotaksi.docx The preliminary report should be sent to Teknofest through the web link which will be announced by Teknofest Management in a soon time. The robots compete on the track separately. Each robot enters the competition area from the starting point and complies with the traffic rules along the road (signs, traffic lights, etc.). The robot should follow the lanes on the road and stay within the limits of the road. It should not hit another vehicle or component. It must stop at the designated points on the course (representatively pick-up passenger, drop-off passenger, etc.). The robot completes the competition by parking on an appropriate parking space. 5.1. Goal 1. Successfully complete the passenger pickup and drop-off task. 2. Reach the parking space as quickly as possible 3. Parking as parallel as possible between the park lines 5.2. Restrictions/Penalties 1. It is not allowed for the robot to exceed the borders of the road when navigating the course. If the robot exceeds the borders, 5 seconds are added to its finish time and it is placed at the point where if went off the road. 2. If the robot touches an element (tree, house, etc.) or another vehicle in or around the competition area, 5 seconds are added to its finish time and the robot is placed on the road as if the robot had passed the obstacle. 3. In case of traffic violation (traffic light and signpost), 15 seconds are added to finish time. 5.3. Other Rules 1. Robots are delivered before the competition

2. The competition area drawing is predetermined (see Figure 1). 3. Traffic signs and locations of other vehicles on the road will be announced during the competition. 4. The locations of the passenger pick-up and drop-off points will be announced during the competition. 5.4. Evaluation 1. Robots are scored separately for each task given (see Table 2) 2. The scoring round is divided into finishing times and the result is declared as the score of that robot. 3. The robot with the highest score wins the competition. 4. In the case of equal scores, the lightest robot wins the competition. Task type Exit from start point 50 Points Pick-up passenger in the right place 1 500 Drop off passenger at the right place 2 500 Reaching the Parking Space 200 Correct Parking 500 Table 2 Scoring Table 5.4.1. Sample Evaluation As an example, two different robots have performed the following tasks in the track. The scoring of the robots and the resulting final scores are as shown in the table below. Task type Robot 1 Robot 2 Exit from start point 50 50 Pick-up passenger in the right place Drop off passenger at the right place Reaching the Parking Space 500 0 500 0 0 200 Correct Parking 0 500 Total Score 1050 750 Track Time 620 seconds 550 seconds

Sum of Penalty Times 50 seconds 30 seconds Total Time 670 seconds 580 seconds Final Score 1,56 1,29 Table 3 Sample Evaluation 1 The position falling within a circle of 20 cm in diameter around the coordinate is considered correct. 2 The position falling within a circle of 20 cm in diameter around the coordinate is considered correct.

5.5. Categories The table below shows the competition categories and the tasks available in each category. Task Traffic sign compliance Traffic light compliance Wireless Passenger Pick-up / Drop-off Location Following the side road lane lines Following the middle road lane lines Red colored traffic light lines compliance Green colored passenger pick-up/drop-off lines compliance Blue colored parking space lines compliance Navigating the obstacles on the road without crashing Table 4: Tasks to be fulfilled according to the competition categories Basic Category (Secondary education) Advanced Category (University or above) 6. Rewards The prizes shown in the table below indicate the total amount to be awarded to the prizewinning teams. No individual prizes will be awarded. Basic Level Advanced Level First 30.000 TL 40.000 TL Second 20.000 TL 30.000 TL Third 10.000 TL 20.000 TL 6.1 Minimum success criteria for reward ranking: To be able to enter the prize ranking, the competitor team must successfully complete all three of the tasks described in the purpose section (section 5.1) of the present specification. Only teams who are in the rankings will be eligible to receive the above awards.

GENERAL RULES & REGULATIONS Teams have the right to object to the concerned judge through their team leaders. Objections can be made verbally, provided that they are submitted in writing at a later time. Verbal objections must be put in writing within 24 hours. In any case, non-written objections will not be taken into consideration. Objections will be finalized within 24 hours after having examined by the judge panel. Each contestant is responsible for taking the necessary precautions and paying the necessary attention to his/her peers and the environment. T3 Foundation and organization officials cannot be held responsible for the damages inflicted upon third parties by the contestants. T3 Foundation and the organization committee reserve the right to make any amendments to the specifications in order for the contest to take place in accordance with the specified impartial criteria with judicial outcomes for violations, to better meet all sorts of requirements by the contestants, to provide necessary safety precautions and to maintain the functionality of the contest specifications. After making the necessary evaluations following the application deadline, T3 Foundation and the organization committee reserve the right to cancel the contest if there are insufficient number of applications with the required technical knowledge and skills. TEKNOFEST ISTANBUL Aviation, Space and Technology Festival Safety and Security Terms and Conditions will be communicated to all contestants, delegations and concerned parties. All competing teams are responsible for observing the safety terms and conditions specific to their respective categories specified in TEKNOFEST ISTANBUL Aviation, Space and Technology Festival Safety and Security Terms and Conditions. In this regard, with the exception of security precautions contained in the aforementioned security instructions, it is the contestants responsibility to take additional precautions arising from the systems employed. T3 Foundation and the organization committee has the right to exclude any and all teams from the contest who do not fulfill the terms and conditions of TEKNOFEST ISTANBUL Aviation, Space and Technology Festival Safety and Security Terms and Conditions to provide a safe environment for holding the contest. T3 Foundation and organization officials cannot be held responsible for damages arising from the violation of terms and conditions by the contestants, delegations and concerned parties. All teams who qualify to compete in the contest will be presented a Participation Certificate. Turkey Technology Team Foundation reserves the right to make any changes in the present specification.