The Duckietown Roadway is illustrated, including each of the 12 goal nodes. A complete challenge requires your vehicle to navigate through 10 goal nodes. They will be selected randomly and given to you in the form of 11 integers---the first of which is the random start node selected for your robot. For example, for a robot that starts at node #2, a complete route could be 2-6-3-1-10-7-6-4-9-1-3.

The roadway definition is a graph structure where goal nodes are connected by edges that define a sequence of path controllers that get you through the immediate intersection and then use visual lane following to get to the next intersection. For example, this structure is illustrated as a graph and as a table below---use this model of the roadway to represent Duckietown.

Your robot must plan a path through the goal nodes between every consecutive pair of nodes in your route. For example, a (sub)route 2-6 expands into a path 2-8-6.

Each team's vehicle starts with 40 points (a perfect score). Your robot will be scored as it procedes through ten goals worth of exposure to penalties (below).

Penalties for the Duckietown Challenge:

1. Lane Compliance - For each edge in the graph, your vehicle will receive penalty of 1 point if its wheels cross the outside edge of the lane markers anywhere along the edge traversed, and 3 points if your vehicle strikes another vehicle as result of leaving the lane.
2. Traffic Lights - failure to correctly stop/go at a light causes at penalty of 1 point .
3. Speed Limits - your robot's velocity will be measured at two points in the route. Your vehicle must reach 10 cm/sec average velocity +/- 2 cm/sec over the length of a single tile of your choice and 15 cm/sec +/- 2 cm/sec over the middle tile of the long straight. Failure to do so tacks on a penalty of 3 points for each of the two measurements
4. Adaptive Cruise Control - everytime the robot hits another vehicle, it will be penalized 3 points and hitting a randomly placed pedestrian gets a penalty of 5 points
5. User Reset - you must be able to ssh into your vehicle and restart from the subgoal following an unrecoverable error. Resets cost 2 points each.