1. HBRC A-Mazing Line Maze Challenge
Phase I, II, III

2. Example Maze

4. Line Maze Rules
Robots per Event: One Length of Event: 5 minutes Max Robot Control: Autonomous
Event Summary: Phase 1 (June): The objective of this challenge is for a robot ‘rat’ to autonomously find it’s way through the maze by following a black line on a white background and get the cheese.
Event Summary: Phase 2 (August): The objective of this challenge is for a robot ‘rat’ to autonomously find it’s way through the maze, learning enough about it to avoid wrong turns (dead ends) on subsequent runs and improve it’s completion time.
Event Summary: Phase 3 (October): Level I & II plus: Be able to identify loops and get out of them, and avoid them on subsequent runs. Learn enough about the maze over no more than two runs to determine the absolute shortest path through.
Course Specifications: The line maze course will be made up of white vinyl floor tiles secured together with masking tape in the adjoining corners, with ¾” black electrical tape for maze lines. The parallel adjacent sections of the line shall be no closer together than 1 foot when measured from the center of each line. There will be no curved lines, all angles will be 90 degrees.
Course Time: time is measured from the time the robot begins the maze until the time it detects either the exit tile or cheese, or contacts the cheese behind the exit tile. The robot must get within 6” (15 cm) of the cheese, which will be placed immediately behind the exit tile. Time Limit: a maximum of 5 minutes is allowed for a robot to complete the course.
Autonomous Control: once a robot begins the maze it must remain fully autonomous.
Arena Edges: a robot that wanders off of the arena surface will have to restart the maze. A robot shall be deemed to have left the arena when any wheel, leg, or track has moved completely off the arena surface.
Losing the Line: any robot that loses the line course must reacquire the line at the point where it was lost, or at any earlier (e.g. already traversed) point.
Second Attempt: any robot that loses the line course and fails to reacquire it will be allowed a single reattempt. The robot must start the course again from the beginning, and if it loses the line course on its second attempt it will lose it’s turn.

5. Materials, etc.
Vinyl Tiles:
Black Tape:
Masking Tape (3/4”):
Pololu IR line sensor:
3pi Robot Chassis:
ActoBitty Chassis:
Pololu Zumo Bot Chassis:

6. Tile Sections Maze exit tile: 6” ‘i’ tile, dead ends:
The tiles below can be rotated 90 (or 180) degrees in any direction as needed:

7. 1’ Minimum Straight Sections
Dead End
Dead End?*
1’ section
1’ section
no 6” sections 
1’ section
1’ section
no 6” sections 
Dead End?*
* This won’t be allowed in the maze design.

8. Maze Exit Tile Detail (old)
Maze exit tile will have a rectangular block of masking tape 3” tall by 5 tape widths wide (5 * ¾” = 3.75”).
Maze completion can be achieved by
detecting this shape, or by detecting the foam cheese block (within 6”/15 cm), or contacting the cheese block which will be placed just behind the block of tape.
Bonus points for not knocking over the cheese. =)
A victory ‘dance’ by the robot is allowed and encouraged.

9. Maze Exit Tile Detail (new)
Maze exit tile will have a octagonal block of masking tape 6” tall by 6” wide, to roughly simulate the circle in the SRS rules.
Maze completion can be achieved by
detecting this shape, or by detecting the foam cheese block (within 6”/15 cm), or contacting the cheese block which will be placed just behind the block of tape.
Bonus points for not knocking over the cheese. =)
A victory ‘dance’ by the robot is allowed and encouraged.

11. SRS Line Maze Key Rules (reference only)
See for complete rules
“Track” is a ¼” black line on white background
Starting point marked with a “T”
Ending point marked with a 6” circle
Dead ends not marked, line simply terminates
No loops!
All intersections are at right angles
3 Attempts to solve the maze, and can remember it
3 minute time limit for each run

12. Phase III Ideas
Long Detour Loop
Long Detour Loop