# Rescue Maze 4.5.1.-c. LOP at blue tile

Hello
I read “RoboCupJunior Rescue Maze Rules 2023”. (RCJRescueMaze2023RulesFinal.pdf)
so I have a question.

4.5.1. A lack of progress occurs when:
c. a robot does not stop for 5 seconds if the robot visits a blue tile.

The rules say that if a robot visits a blue tile and does not stop, a LOP will occur.

At what point does a LOP occur when a robot enters a blue tile and passes through it without stopping?

1. When half of the robot enters the blue tile (=visits the blue tile)
2. When the robot has completely entered the blue tile
3. When the robot enters the middle of the blue tile
4. When the robot visits another tile

The rule says that LOP will occur in the state of No.1.
Right?

Regards,
MASA

1 Like

Hi @MASA,

You can think of these 5 seconds as a penalty robot is required to serve for entering a blue tile. They have to be served before exiting the blue tile AND making any sort of sideway movement/adjustment/turning. Basically as long as the robot is moving forward it can stop at any point before leaving this blue tile.

So in the example you presented above, LoP would occur in state No. 4.

We will add this clarification to the rules as well.

Regards,
Matej
2023 committee

1 Like

Hello @Matej

I understand from your answer that LOP occurs in state No.4.
and LOP occurs if the robot enteres the blue tile and leaves the blue tile without stopping for 5 seconds.
( Rule 4.5.1-c is not correct, so please fix it )

At what point does a LOP occur when a robot enters a blue tile and passes through it without stopping?

4-1. When part of the robot is out of the blue tile
4-2. When half of the robot is out of the blue tile
4-3. When the robot is completely out of the blue tile

Regards,
MASA

Hi @MASA,

LoP is called at 4-2.

Matej
2023 committee

Hello @Matej

LoP is called at 4-2.

I understand it.
so, Rule 4.5.1-c →
LOPs occur when robot enters blue tile (robot visits blue tile), after that robot exits blue tile (robot visits other tile) without stopping for 5 seconds

Regards,
MASA

Correct. Will be clarified in rules.

Matej
2023 committee