In 1996, the drum X - Y centroids were separated by approximately 2 meters to assure that no two drums (which have a maximum dimension of approximately one meter) were not touching.
This year the drums will be truly random in their placement and may even touch one another. This has been instituted to increase the realism of the mission. As stated in the rules for reason of safety, no drum will be on or outside the boundaries of
the arena, nor will it be closer than three meters to any arena boundary.
Up to four teams will be allowed to set up for their runs simultaneously, but at one of the four corners of the single arena. When a team is ready to fly, the clocks for the other teams will be stopped and only the clock for the team that is flying will continue to run (this is the same procedure used in past years, the only difference is that the single arena will be shared from four vantage points).
Therefore your starting point could be one of 4 locations, and your flight operation will be relative to that starting point. All measurements will be referenced to the exact center of the arena so everyone (no matter which corner they start from) will be using the same reference when computing drum locations.
The GPS coordinate for the center will be determined when the arena is set up and the boundary lines surveyed in. This center point will be clearly marked so those using GPS can place their aerial robot over that point and measure for themselves what the GPS coordinate is with an accuracy much better than the meter resolution called for by the rules.
Mapping of the drums should be relative to the exact center of the arena and be done in X-Y coordinates reative to that center. The X and Y directions will be relative to the rectangular arena sides. Positive "Y" will be aligned with the arena sides that are perpendicular to the spectator viewing area and pointing away from the spectators. Positive "X" will be aligned with the arena sides that are parallel to the spectator view area with the positive sense pointing to the spectators' right. A map of the arena layout and significant nearby objects will be provided approximatley one month prior to the competition. All measurements of drum position will be in "plus or minus X meters" or, "plus or minus Y meters" from the origin located at the geometric center of the arena.
