Collision-Detection for RoboCup@Work-Competitions

The RobotCup@Work league is motivated by industrial scenarios where objects has to be automatically transported between different working positions. During these operations the rules prohibit and penalize collisions of robots with the arena. Human referees distributed around the arena are responsible for identifying occurred collisions and for their annotation. If a robot moves parts of the arena, a collision is obvious. But, a slight contact is hard to recognize, since not all referees do have a permanent line of sight to the robot and distraction, caused by the surrounding, fatigue, or personal perception are human factors that might affect the outcome of a run. A majority vote might smooth the results, but it is an unsatisfactory solution in debatable situations.