Comparison of APEC and TIC rules

APEC MicroMouse Contest Rules

The object of the contest is to build a robot that can negotiate a specified maze in the shortest time. A robot participating in this contest is termed a MicroMouse. The person who places the MicroMouse in the maze and starts its operation is termed a handler.

I. SPECIFICATIONS FOR THE MAZE
TIC Maze Solver Rules

Proposed 2005 rules

The maze shall comprise 16 × 16 multiples of an 18 cm × 18 cm unit square. The walls constituting the maze shall be 5 cm high and 1.2 cm thick. Passageways between the walls shall be 16.8 cm wide. The outside wall shall enclose the entire maze.

1. The micromouse maze shall comprise 16 x 16 multiples of an 18cm x 18cm unit square. The walls constituting the micromouse maze shall be 5cm high and 1.2cm thick. Passageways between the walls shall be l6.8cm wide. The outside wall shall enclose the entire micromouse maze.

1. The micromouse maze shall comprise 16 x 16 multiples of an 18cm x 18cm unit square. The walls constituting the micromouse maze shall be 5cm high and 1.2cm thick. Passageways between the walls shall be l6.8cm wide. The outside wall shall enclose the entire micromouse maze.

The sides of the maze walls shall be white, and the top of the walls shall be red. The floor of the maze shall be made of wood and finished with a non-gloss black paint. The coating on the top and sides of the walls shall be selected to reflect infra-red light and the coating on the floor shall absorb it.

2. The side of the micromouse maze walls shall be white, and the top of the walls shall be red. The floor of the micromouse maze shall be made of wood and finished with a non-gloss black paint. The coating on the top and side of the wall shall be selected to reflect infra-red light and the coating on the floor shall absorb it.

2. The side of the micromouse maze walls shall be white, and the top of the walls shall be red. The floor of the micromouse maze shall be . . . . . . finished with a non-gloss black paint. The coating on the top and side of the wall shall be selected to reflect infra-red light and the coating on the floor shall absorb it.

The start of the maze shall be located at one of the four corners. The starting square shall have walls on three sides. The starting square orientation shall be such that when the open wall is to the `north', outside maze walls are on the `west' and `south'. At the center of the maze shall be a large opening which is composed of 4 unit squares. This central square shall be the destination.

3. The start of the micromouse maze shall be located at one of the four corners. The starting square shall have walls on three sides. The starting square orientation shall be such that when the open wall is to the 'north', outside micromouse maze walls are on the 'west', and 'south'. At the centre of the micromouse maze shall be an opening composed of 4 unit squares. This central square shall be the destination.

The start of the micromouse maze shall be located at one of the four corners. The starting square shall have walls on three sides. The starting square orientation shall be such that when a mouse is placed in the starting square facing the open side of that square, one outer edge of the maze will be on its left side and one outer edge behind it. At the centre of the micromouse maze shall be an opening composed of 4 unit squares. This central square shall be the destination.

A red post 20cm high and 2.5cm on each side, may be placed at the centre of the large destination square if requested by the handler.

Delete this one altogether!

Small square posts, each 1.2 cm × 1.2 cm × 5 cm high, at the four corners of each unit square are called lattice points. The maze shall be constituted such that there is at least one wall touching each lattice point, except for the destination square.

4. Square posts, each 1.2cm x l.2cm x 5cm high, shall be placed at the four comers of each unit square (the lattice points). The micromouse maze shall be constituted such that there is at least one wall touching each lattice point, except for the destination square.

4. Square posts, each 1.2cm x l.2cm x 5cm high, shall be placed at the four corners of each unit square (the lattice points). The micromouse maze shall be constituted such that there is at least one wall touching each lattice point, except for the destination square.

Only the central third of each face shall be used for wall fixings such that:

a) The 4mm width nearest each corner shall be flat and accurate to +/- 0.6mm. This is the recommended sensing area.

b) The central 4mm shall not protrude in front of the edges but may have slots, holes or any other means, of any depth, for attaching the walls to the post. The slots, etc. may widen as they go deeper to a maximum width of 5mm.

c) The top face of the post shall have square corners but may have slots, holes etc. as above."

The dimensions of the maze shall be accurate to within 5% or 2 cm, whichever is less. Assembly joints on the maze floor shall not involve steps of greater than 0.5 mm. The change of slope at an assembly joint shall not be greater than 4 degrees. Gaps between the walls of adjacent squares shall not be greater than 1 mm.

5. The dimensions of the micromouse maze shall be accurate to within 5% or 2cm, whichever is less. Assembly joints on the micromouse maze floor shall not involve steps of greater than 1mm. The change of slope at an assembly joint shall not be greater than 4 degrees. Gaps between the walls of adjacent squares shall not be greater than 1mm.

5. The dimensions of the micromouse maze shall be accurate to within 5% or 2cm, whichever is less. Assembly joints on the micromouse maze floor shall not involve steps of greater than 1mm. The change of slope at an assembly joint shall not be greater than 4 degrees. Gaps between the walls of adjacent squares shall not be greater than 1mm.

6. A start sensor may be placed at the boundary between the starting unit square and the next unit square. A destination sensor may be placed at the entrance to the destination square. The light beam from each sensor will be horizontal and positioned 1 cm above the floor.

6. A start sensor may be placed at the boundary between the starting unit square and the next unit square. Destination sensor(s) may be placed at the entrance(s) to the destination square. The light beam from each sensor will be horizontal and positioned 1 cm above the floor.

7. Multiple paths to the destination square are allowed and are to be expected.

7. Multiple paths to the destination square are allowed and are to be expected.

II. SPECIFICATIONS FOR THE MICROMOUSE

A MicroMouse shall be self-contained.

The length and width of a MicroMouse shall be restricted to a square region of 25 cm × 25 cm. The dimensions of a MicroMouse that changes its geometry during a run shall never be greater than 25 cm × 25 cm. The height of a MicroMouse is unrestricted.

The Micromouse.
1. Although the superstructure of a micromouse may 'bulge' above the top of the micromouse maze walls, a micromouse is subject to the following size constraints -width 25cm, length 25cm. There is no height limit. A micromouse must be completely self-contained and must receive no outside assistance. This rule will be relaxed for that part of the competition allowing entries from competitors or teams under 18 years old to compete in a sub-section for mice using external guidance systems, automatic or manual.

The Micromouse.

1. Although the superstructure of a micromouse may 'bulge' above the top of the micromouse maze walls, a micromouse is subject to the following size constraints -width 25cm, length 25cm. If the mouse will fit in a box 25cmm square it meets this criterion. There is no height limit. A micromouse must be completely self-contained and must receive no outside assistance. This rule will be relaxed for that part of the competition allowing entries from competitors or teams under 18 years old to compete in a sub-section for mice using external guidance systems, automatic or manual.

2. The method of wall sensing is at the discretion of the builder; however, the micromouse must not exert a force on any wall likely to cause damage.

It shall not use an energy source employing a combustion process.

3. The method of propulsion is at the discretion of the builder, provided that the power source is non-polluting -internal combustion engines would probably be disqualified on this count.

A MicroMouse shall not leave anything behind while negotiating the maze.

A MicroMouse shall not jump over, climb, scratch, damage or destroy the walls of the maze.

4. If the judges consider that a micromouse has a high risk of damaging or sullying the micromouse maze they will not permit it to run. The micromouse must negotiate the micromouse maze; it must not climb or jump over the walls of the micromouse maze. Nothing may be deposited in the micromouse maze.

5. Each micromouse should be fitted with a suitable hook or loop, for lifting the micromouse out from the centre of the maze, should this prove necessary. Contestants may not be allowed to climb over the micromouse maze.

III. RULES FOR THE CONTEST

The basic function of a MicroMouse is to travel from the start square to the destination square. This is called a run. The time it takes is called the run time. Traveling from the destination square back to the start square is not considered a run. The total time from the first activation of the MicroMouse until the start of each run is also measured. This is called the maze time. If a mouse requires manual assistance at any time during the contest it is considered touched. By using these three parameters the scoring of the contest is designed to reward speed, efficiency of maze solving, and self-reliance of the MicroMouse.

The Competition

1. The time taken to travel from the start square to the destination square is called the "run" time. Travelling from the destination square back to the start square is not considered a run. The total time taken from the first activation of the micromouse until the start of each run is also measured. This is called the "maze" or 'search' time. If the micromouse requires any manual assistance at any time during the contest, it is considered "touched". Scoring is based on these three parameters.

Each contesting MicroMouse shall be subject to a time limit of 10 minutes on the maze. Within this time limit, the MicroMouse may make up to 10 runs.

2. Each micromouse is allowed a maximum of 10 minutes to perform. This may be reduced to 6 minutes if time is limited. The judges have the discretion to request a micromouse to retire early if by its lack of progress it has become boring, or if by erratic behaviour it is endangering the condition of the micromouse maze.

The scoring of a MicroMouse shall be done by computing a handicapped time for each run. This shall be calculated by adding the time for each run to 1/30 of the maze time associated with that run and subtracting a 3 second bonus if the MicroMouse has not been touched yet. For example assume a MicroMouse, after being on the maze for 4 minutes without being touched, starts a run which takes 20 seconds; the run will have a handicapped time of:

20 + (4 × 60 ÷ 30) - 3 = 25 seconds.

The run with the fastest handicapped time for each MicroMouse shall be the official time of that MicroMouse.

3. The scoring of a micromouse shall be obtained by computing a handicapped time for each run as follows:

Handicapped Time Score = Run Time + Search Penalty + Touch Penalty

where,

Search Penalty = 1/30 of the maze or search time, in seconds, associated with that run,

And

Touch Penalty = 3 seconds plus 1/10 of the run time, in seconds, if the micromouse has been touched at any time prior to the run. For example, if a micromouse, after being in the micromouse maze for 4 minutes without being touched, starts a run which takes 20 seconds, the run will have a handicapped time score of 20 + 1/30 (4 x 60) = 28 seconds. However, if the micromouse has been touched prior to the run, an additional touch penalty of (3 + (1/10 x 20)) seconds is added giving a handicapped time score of 33 seconds.

When the MicroMouse reaches the maze center it may be manually lifted out and restarted or it may make its own way back to the start square. Manually lifting it out shall be considered touching the MicroMouse and will cause it to loose the 3 second bonus on all further runs.

4. When the micromouse reaches the destination square, it may stop and remain at the micromouse maze centre, or it may continue to explore other parts of the micromouse maze, or make its own way back to the start. If the micromouse stops at the centre, it may be lifted out, manually, and restarted by the handler. Manually lifting it out shall be considered touching the micromouse and will cause a touch penalty to be added on all subsequent runs.

If the micromouse does not remain in the destination square, it may not be stopped manually and restarted.

The time for each run shall be measured from the moment the MicroMouse leaves the start square until it enters the finish square. The total time on the maze shall be measured from the time the MicroMouse is first activated. The mouse does not have to move when it is first activated but it must be positioned in the start square ready to run.

5. The time for each run (run time) shall be measured from the moment the micromouse leaves the start square until it enters the destination square. The total time on the micromouse maze (maze or search time) shall be measured from the time the micromouse is first activated.

The time taken to negotiate the maze shall be measured either manually by the contest officials or by infra-red sensors set at the start and destination. If infra-red sensors are used, the start sensor shall be positioned at the boundary between the start square and the next unit square. The destination sensor shall be placed at the entrance to the destination square. The infrared beam of each sensor shall be horizontal and positioned approximately 1 cm above the floor.

6. The time taken to negotiate the micromouse maze shall be measured either manually by the contest officials, or by sensors set at the start and destination. If sensors are used, the start sensor shall be positioned at the boundary between the start square and the next unit square.

The starting procedure of the MicroMouse shall not offer a choice of strategies to the handler.

7. The starting procedure of the micromouse shall be simple and must not offer a choice of strategies to the handler. For example, a decision to make a fast run to the centre as time runs out must be made by the micromouse itself. The starting procedure shall be submitted to the judges when the micromouse is registered on the day of the contest.

Once the maze configuration for the contest is disclosed, the operator shall not feed the MicroMouse with maze information.

8. The micromouse handler is given 1 minute, from the moment the micromouse is required to start, to make any adjustments to the micromouse sensors. However, no selection of strategies must be made and no information on the micromouse maze configuration may be entered or captured in the memory.

9. The maze or search time clock will commence after the expiry of the 1 minute time limit even if the handler is still making adjustments to the sensors.

The illumination, temperature, and humidity of the room in which the maze is located shall be those of an ambient environment. Requests to adjust the illumination may be accepted at the discretion of the contest officials.

If a MicroMouse appears to be malfunctioning, the handlers may ask the judges for permission to abandon the run and restart the MicroMouse at the beginning. A MicroMouse shall not be re-started merely because it has taken a wrong turn.

10. If a micromouse "gets into trouble" the handlers can ask the judge for permission to abandon the run and restart the micromouse at the start square. A micromouse may not be re-started merely because it has taken a wrong turning. The judges may add a time penalty for a restart. The judges' decision is final.

If any part of a MicroMouse is replaced during its performance, such as batteries or EPROMs, or if any significant adjustment is made, the memory of the maze within the MicroMouse shall be erased before restarting. Slight adjustments, such as to the sensors, may be allowed at the discretion of the judges, but operation of speed or strategy controls is expressly forbidden without a memory erasure.

11. If any part of a micromouse is replaced during its performance -such as batteries or EPROMs -or if any significant adjustment is made, then the memory of the micromouse maze within the micromouse must be erased before re-starting. Slight manipulations of sensors will probably be condoned, but operation of speed or strategy controls is expressly forbidden without a memory erasure. It is assumed that the mice will have software stored in EPROMs. However, at the judges' discretion, but not in normal circumstances, mice with battery backed up RAM may be allowed to download control software if the memory is erased accidentally during a run. The handlers, in this instance, must convince the judges that the original software has been reloaded.

12. If no successful run has been made, the judge will make a qualitative assessment of the micromouse's performance, based on distance achieved, 'purposefulness' versus random behaviour and quality of control.

13. If a micromouse elects to retire because of technical problems, the judges may, at their discretion, permit it to perform again later in the contest. The micromouse will then be deemed to have taken an extra three minutes search time (i.e. if a micromouse retires after four minutes, then when re-starting it will be counted as having taken seven minutes and will have only three more minutes to run). This permission is likely to be withdrawn, if time is limited.

14. The judges will use their discretion to award the prizes, which in addition to the major prizes may include prizes for specific classes of micromouse -e.g. lowest cost, most ingenious, best presented, most entertaining etc.

I5. Before the micromouse maze is unveiled, the mice must be accepted and kept in view of the contest officials. The handlers will place the mice at the start under the officials' instructions.

No part of the MicroMouse (with the possible exception of batteries) shall be transferred to another MicroMouse. For example if one chassis is used with two alternative controllers, then they are the same MicroMouse and must perform within a single 10 minute allocation. The memory must be cleared with the change of controller.

16. Under normal circumstances, no part of the micromouse may be transferred to another micromouse. However, the judges may allow a change of batteries or controller in exceptional cases, e.g. due to accidental damage. Thus, if one chassis is used with two alternative controllers, then they are the same micromouse and must perform within a single 10 minutes allocation. The memory must be cleared with the change of controller.

The contest officials shall reserve the right to stop a run, or disqualify a MicroMouse, if they believe its continued operation is endangering the condition of the maze.

Following the completion of a run and prior to the start of its next run, a MicroMouse must remain in the start square for a minimum of 1 second. If an infra-red start sensor is used, it must not be obstructed during this time.

Contest Rules Last Updated: March 7, 1996

APEC MicroMouse Contest Rules The object of the contest is to build a robot that can negotiate a specified maze in the shortest time. A robot participating in this contest is termed a MicroMouse. The person who places the MicroMouse in the maze and starts its operation is termed a handler. I. SPECIFICATIONS FOR THE MAZE	TIC Maze Solver Rules	Proposed 2005 rules
The maze shall comprise 16 × 16 multiples of an 18 cm × 18 cm unit square. The walls constituting the maze shall be 5 cm high and 1.2 cm thick. Passageways between the walls shall be 16.8 cm wide. The outside wall shall enclose the entire maze.	1. The micromouse maze shall comprise 16 x 16 multiples of an 18cm x 18cm unit square. The walls constituting the micromouse maze shall be 5cm high and 1.2cm thick. Passageways between the walls shall be l6.8cm wide. The outside wall shall enclose the entire micromouse maze.	1. The micromouse maze shall comprise 16 x 16 multiples of an 18cm x 18cm unit square. The walls constituting the micromouse maze shall be 5cm high and 1.2cm thick. Passageways between the walls shall be l6.8cm wide. The outside wall shall enclose the entire micromouse maze.
The sides of the maze walls shall be white, and the top of the walls shall be red. The floor of the maze shall be made of wood and finished with a non-gloss black paint. The coating on the top and sides of the walls shall be selected to reflect infra-red light and the coating on the floor shall absorb it.	2. The side of the micromouse maze walls shall be white, and the top of the walls shall be red. The floor of the micromouse maze shall be made of wood and finished with a non-gloss black paint. The coating on the top and side of the wall shall be selected to reflect infra-red light and the coating on the floor shall absorb it.	2. The side of the micromouse maze walls shall be white, and the top of the walls shall be red. The floor of the micromouse maze shall be . . . . . . finished with a non-gloss black paint. The coating on the top and side of the wall shall be selected to reflect infra-red light and the coating on the floor shall absorb it.
The start of the maze shall be located at one of the four corners. The starting square shall have walls on three sides. The starting square orientation shall be such that when the open wall is to the `north', outside maze walls are on the `west' and `south'. At the center of the maze shall be a large opening which is composed of 4 unit squares. This central square shall be the destination.	3. The start of the micromouse maze shall be located at one of the four corners. The starting square shall have walls on three sides. The starting square orientation shall be such that when the open wall is to the 'north', outside micromouse maze walls are on the 'west', and 'south'. At the centre of the micromouse maze shall be an opening composed of 4 unit squares. This central square shall be the destination.	The start of the micromouse maze shall be located at one of the four corners. The starting square shall have walls on three sides. The starting square orientation shall be such that when a mouse is placed in the starting square facing the open side of that square, one outer edge of the maze will be on its left side and one outer edge behind it. At the centre of the micromouse maze shall be an opening composed of 4 unit squares. This central square shall be the destination.
	A red post 20cm high and 2.5cm on each side, may be placed at the centre of the large destination square if requested by the handler.	Delete this one altogether!
Small square posts, each 1.2 cm × 1.2 cm × 5 cm high, at the four corners of each unit square are called lattice points. The maze shall be constituted such that there is at least one wall touching each lattice point, except for the destination square.	4. Square posts, each 1.2cm x l.2cm x 5cm high, shall be placed at the four comers of each unit square (the lattice points). The micromouse maze shall be constituted such that there is at least one wall touching each lattice point, except for the destination square.	4. Square posts, each 1.2cm x l.2cm x 5cm high, shall be placed at the four corners of each unit square (the lattice points). The micromouse maze shall be constituted such that there is at least one wall touching each lattice point, except for the destination square. Only the central third of each face shall be used for wall fixings such that: a) The 4mm width nearest each corner shall be flat and accurate to +/- 0.6mm. This is the recommended sensing area. b) The central 4mm shall not protrude in front of the edges but may have slots, holes or any other means, of any depth, for attaching the walls to the post. The slots, etc. may widen as they go deeper to a maximum width of 5mm. c) The top face of the post shall have square corners but may have slots, holes etc. as above."
The dimensions of the maze shall be accurate to within 5% or 2 cm, whichever is less. Assembly joints on the maze floor shall not involve steps of greater than 0.5 mm. The change of slope at an assembly joint shall not be greater than 4 degrees. Gaps between the walls of adjacent squares shall not be greater than 1 mm.	5. The dimensions of the micromouse maze shall be accurate to within 5% or 2cm, whichever is less. Assembly joints on the micromouse maze floor shall not involve steps of greater than 1mm. The change of slope at an assembly joint shall not be greater than 4 degrees. Gaps between the walls of adjacent squares shall not be greater than 1mm.	5. The dimensions of the micromouse maze shall be accurate to within 5% or 2cm, whichever is less. Assembly joints on the micromouse maze floor shall not involve steps of greater than 1mm. The change of slope at an assembly joint shall not be greater than 4 degrees. Gaps between the walls of adjacent squares shall not be greater than 1mm.
	6. A start sensor may be placed at the boundary between the starting unit square and the next unit square. A destination sensor may be placed at the entrance to the destination square. The light beam from each sensor will be horizontal and positioned 1 cm above the floor.	6. A start sensor may be placed at the boundary between the starting unit square and the next unit square. Destination sensor(s) may be placed at the entrance(s) to the destination square. The light beam from each sensor will be horizontal and positioned 1 cm above the floor.
	7. Multiple paths to the destination square are allowed and are to be expected.	7. Multiple paths to the destination square are allowed and are to be expected.
II. SPECIFICATIONS FOR THE MICROMOUSE A MicroMouse shall be self-contained. The length and width of a MicroMouse shall be restricted to a square region of 25 cm × 25 cm. The dimensions of a MicroMouse that changes its geometry during a run shall never be greater than 25 cm × 25 cm. The height of a MicroMouse is unrestricted.	The Micromouse. 1. Although the superstructure of a micromouse may 'bulge' above the top of the micromouse maze walls, a micromouse is subject to the following size constraints -width 25cm, length 25cm. There is no height limit. A micromouse must be completely self-contained and must receive no outside assistance. This rule will be relaxed for that part of the competition allowing entries from competitors or teams under 18 years old to compete in a sub-section for mice using external guidance systems, automatic or manual.	The Micromouse. 1. Although the superstructure of a micromouse may 'bulge' above the top of the micromouse maze walls, a micromouse is subject to the following size constraints -width 25cm, length 25cm. If the mouse will fit in a box 25cmm square it meets this criterion. There is no height limit. A micromouse must be completely self-contained and must receive no outside assistance. This rule will be relaxed for that part of the competition allowing entries from competitors or teams under 18 years old to compete in a sub-section for mice using external guidance systems, automatic or manual.
	2. The method of wall sensing is at the discretion of the builder; however, the micromouse must not exert a force on any wall likely to cause damage.
It shall not use an energy source employing a combustion process.	3. The method of propulsion is at the discretion of the builder, provided that the power source is non-polluting -internal combustion engines would probably be disqualified on this count.
A MicroMouse shall not leave anything behind while negotiating the maze. A MicroMouse shall not jump over, climb, scratch, damage or destroy the walls of the maze.	4. If the judges consider that a micromouse has a high risk of damaging or sullying the micromouse maze they will not permit it to run. The micromouse must negotiate the micromouse maze; it must not climb or jump over the walls of the micromouse maze. Nothing may be deposited in the micromouse maze.
	5. Each micromouse should be fitted with a suitable hook or loop, for lifting the micromouse out from the centre of the maze, should this prove necessary. Contestants may not be allowed to climb over the micromouse maze.
III. RULES FOR THE CONTEST The basic function of a MicroMouse is to travel from the start square to the destination square. This is called a run. The time it takes is called the run time. Traveling from the destination square back to the start square is not considered a run. The total time from the first activation of the MicroMouse until the start of each run is also measured. This is called the maze time. If a mouse requires manual assistance at any time during the contest it is considered touched. By using these three parameters the scoring of the contest is designed to reward speed, efficiency of maze solving, and self-reliance of the MicroMouse.	The Competition 1. The time taken to travel from the start square to the destination square is called the "run" time. Travelling from the destination square back to the start square is not considered a run. The total time taken from the first activation of the micromouse until the start of each run is also measured. This is called the "maze" or 'search' time. If the micromouse requires any manual assistance at any time during the contest, it is considered "touched". Scoring is based on these three parameters.
Each contesting MicroMouse shall be subject to a time limit of 10 minutes on the maze. Within this time limit, the MicroMouse may make up to 10 runs.	2. Each micromouse is allowed a maximum of 10 minutes to perform. This may be reduced to 6 minutes if time is limited. The judges have the discretion to request a micromouse to retire early if by its lack of progress it has become boring, or if by erratic behaviour it is endangering the condition of the micromouse maze.
The scoring of a MicroMouse shall be done by computing a handicapped time for each run. This shall be calculated by adding the time for each run to 1/30 of the maze time associated with that run and subtracting a 3 second bonus if the MicroMouse has not been touched yet. For example assume a MicroMouse, after being on the maze for 4 minutes without being touched, starts a run which takes 20 seconds; the run will have a handicapped time of: 20 + (4 × 60 ÷ 30) - 3 = 25 seconds. The run with the fastest handicapped time for each MicroMouse shall be the official time of that MicroMouse.	3. The scoring of a micromouse shall be obtained by computing a handicapped time for each run as follows: Handicapped Time Score = Run Time + Search Penalty + Touch Penalty where, Search Penalty = 1/30 of the maze or search time, in seconds, associated with that run, And Touch Penalty = 3 seconds plus 1/10 of the run time, in seconds, if the micromouse has been touched at any time prior to the run. For example, if a micromouse, after being in the micromouse maze for 4 minutes without being touched, starts a run which takes 20 seconds, the run will have a handicapped time score of 20 + 1/30 (4 x 60) = 28 seconds. However, if the micromouse has been touched prior to the run, an additional touch penalty of (3 + (1/10 x 20)) seconds is added giving a handicapped time score of 33 seconds.
When the MicroMouse reaches the maze center it may be manually lifted out and restarted or it may make its own way back to the start square. Manually lifting it out shall be considered touching the MicroMouse and will cause it to loose the 3 second bonus on all further runs.	4. When the micromouse reaches the destination square, it may stop and remain at the micromouse maze centre, or it may continue to explore other parts of the micromouse maze, or make its own way back to the start. If the micromouse stops at the centre, it may be lifted out, manually, and restarted by the handler. Manually lifting it out shall be considered touching the micromouse and will cause a touch penalty to be added on all subsequent runs. If the micromouse does not remain in the destination square, it may not be stopped manually and restarted.
The time for each run shall be measured from the moment the MicroMouse leaves the start square until it enters the finish square. The total time on the maze shall be measured from the time the MicroMouse is first activated. The mouse does not have to move when it is first activated but it must be positioned in the start square ready to run.	5. The time for each run (run time) shall be measured from the moment the micromouse leaves the start square until it enters the destination square. The total time on the micromouse maze (maze or search time) shall be measured from the time the micromouse is first activated.
The time taken to negotiate the maze shall be measured either manually by the contest officials or by infra-red sensors set at the start and destination. If infra-red sensors are used, the start sensor shall be positioned at the boundary between the start square and the next unit square. The destination sensor shall be placed at the entrance to the destination square. The infrared beam of each sensor shall be horizontal and positioned approximately 1 cm above the floor.	6. The time taken to negotiate the micromouse maze shall be measured either manually by the contest officials, or by sensors set at the start and destination. If sensors are used, the start sensor shall be positioned at the boundary between the start square and the next unit square.
The starting procedure of the MicroMouse shall not offer a choice of strategies to the handler.	7. The starting procedure of the micromouse shall be simple and must not offer a choice of strategies to the handler. For example, a decision to make a fast run to the centre as time runs out must be made by the micromouse itself. The starting procedure shall be submitted to the judges when the micromouse is registered on the day of the contest.
Once the maze configuration for the contest is disclosed, the operator shall not feed the MicroMouse with maze information.	8. The micromouse handler is given 1 minute, from the moment the micromouse is required to start, to make any adjustments to the micromouse sensors. However, no selection of strategies must be made and no information on the micromouse maze configuration may be entered or captured in the memory.
	9. The maze or search time clock will commence after the expiry of the 1 minute time limit even if the handler is still making adjustments to the sensors.
The illumination, temperature, and humidity of the room in which the maze is located shall be those of an ambient environment. Requests to adjust the illumination may be accepted at the discretion of the contest officials.
If a MicroMouse appears to be malfunctioning, the handlers may ask the judges for permission to abandon the run and restart the MicroMouse at the beginning. A MicroMouse shall not be re-started merely because it has taken a wrong turn.	10. If a micromouse "gets into trouble" the handlers can ask the judge for permission to abandon the run and restart the micromouse at the start square. A micromouse may not be re-started merely because it has taken a wrong turning. The judges may add a time penalty for a restart. The judges' decision is final.
If any part of a MicroMouse is replaced during its performance, such as batteries or EPROMs, or if any significant adjustment is made, the memory of the maze within the MicroMouse shall be erased before restarting. Slight adjustments, such as to the sensors, may be allowed at the discretion of the judges, but operation of speed or strategy controls is expressly forbidden without a memory erasure.	11. If any part of a micromouse is replaced during its performance -such as batteries or EPROMs -or if any significant adjustment is made, then the memory of the micromouse maze within the micromouse must be erased before re-starting. Slight manipulations of sensors will probably be condoned, but operation of speed or strategy controls is expressly forbidden without a memory erasure. It is assumed that the mice will have software stored in EPROMs. However, at the judges' discretion, but not in normal circumstances, mice with battery backed up RAM may be allowed to download control software if the memory is erased accidentally during a run. The handlers, in this instance, must convince the judges that the original software has been reloaded.
	12. If no successful run has been made, the judge will make a qualitative assessment of the micromouse's performance, based on distance achieved, 'purposefulness' versus random behaviour and quality of control.
	13. If a micromouse elects to retire because of technical problems, the judges may, at their discretion, permit it to perform again later in the contest. The micromouse will then be deemed to have taken an extra three minutes search time (i.e. if a micromouse retires after four minutes, then when re-starting it will be counted as having taken seven minutes and will have only three more minutes to run). This permission is likely to be withdrawn, if time is limited.
	14. The judges will use their discretion to award the prizes, which in addition to the major prizes may include prizes for specific classes of micromouse -e.g. lowest cost, most ingenious, best presented, most entertaining etc.
	I5. Before the micromouse maze is unveiled, the mice must be accepted and kept in view of the contest officials. The handlers will place the mice at the start under the officials' instructions.
No part of the MicroMouse (with the possible exception of batteries) shall be transferred to another MicroMouse. For example if one chassis is used with two alternative controllers, then they are the same MicroMouse and must perform within a single 10 minute allocation. The memory must be cleared with the change of controller.	16. Under normal circumstances, no part of the micromouse may be transferred to another micromouse. However, the judges may allow a change of batteries or controller in exceptional cases, e.g. due to accidental damage. Thus, if one chassis is used with two alternative controllers, then they are the same micromouse and must perform within a single 10 minutes allocation. The memory must be cleared with the change of controller.
The contest officials shall reserve the right to stop a run, or disqualify a MicroMouse, if they believe its continued operation is endangering the condition of the maze.
Following the completion of a run and prior to the start of its next run, a MicroMouse must remain in the start square for a minimum of 1 second. If an infra-red start sensor is used, it must not be obstructed during this time. Contest Rules Last Updated: March 7, 1996