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SAFMC 2025 CAT D2 CHALLENGE BOOKLET CHANGE LOG

Version Release Date Description

1.0 27 Sept 2024 Official challenge booklet release

2.0 08 Nov 2024 Revisions made to

• Section 3.2.1 on the bonus zone width
• Section 3.2.2.2 on large pillar obstacle
• Section 3.3.2 on payload and carrier
3.0 06 Jan 2025 Revisions made to
• Section 3.2.4 on Drop Zone
• Section 3.3.1 on general mission rules
• Section 3.3.2 on payload and carrier
• Section 3.3.3 on navigational aids
• Section 3.4.1 on score eligibility
• Section 6 on technical rules &
regulations
4.0 19 Feb 2025 Revisions made to
• Section 2.2 on the Best International
Team Award
• Section 3.3.1 on cameras
• Section 4 on scoring components
• Section 5.2 on computer-aided
simulations
5.0 21 Feb 2025 Revisions made to
• Section 3.3.1 to prohibit any drone
from touching the ground outside of
the Launch Zone and Supply Zones
6.0 10 Mar 2025 Revisions made to
• Section 3.3.4 to include new safety
pilot rules

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CONTENTS

1. INTRODUCTION ........................................................................... 5

2. CATEGORY D2 AWARDS ............................................................ 5

2.1. CHAMPIONSHIP AWARD ....................................................... 5

2.2. BEST INTERNATIONAL TEAM AWARD ................................. 5
2.3. JUDGES’ COMMENDATION ................................................... 6
2.4. PRIZES .................................................................................... 6
3. CATEGORY D2 MISSION ............................................................. 7

3.1. MISSION TASKS ..................................................................... 7

3.2. PLAY FIELD ............................................................................. 9
3.2.1 LAYOUT ........................................................................... 9

3.2.2 OBSTACLES .................................................................. 10

3.2.3 LAUNCH AND SUPPLY ZONE ....................................... 12

3.2.4 DROP ZONE .................................................................. 12

3.2.5 BONUS ZONE ................................................................ 13

3.3. MISSION RULES ................................................................... 14

3.3.1 GENERAL ...................................................................... 14

3.3.2 PAYLOAD AND CARRIER ............................................. 16

3.3.3 NAVIGATIONAL AIDS .................................................... 17

3.3.4 SAFETY.......................................................................... 17

3.4. MISSION SCORING .............................................................. 18

3.4.1 PICKUP SCORE ELIGIBILITY ........................................ 19

3.4.2 DROP SCORE ELIGIBILITY AND SCORING ................. 19

3.4.3 PENALTIES .................................................................... 21

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4. SCORING .................................................................................... 22

4.1. AERIAL PLATFORM FACTOR (A) ......................................... 23

4.2. STRATEGY FACTOR (S) ...................................................... 24
4.3. LEARNING JOURNEY AND INSIGHT FACTOR (L) .............. 24
4.4. TEAM CHALLENGE VIDEO FACTOR (V) ............................. 25
4.5. MISSION FACTOR (M) .......................................................... 25
5. FLOW OF EVENTS ..................................................................... 26

5.1. PRESENTATION SEGMENT ................................................. 26

5.2. TEAM CHALLENGE VIDEO................................................... 26
5.3. CHALLENGE SEGMENT ....................................................... 28
5.4. KEY RULES TO NOTE .......................................................... 30
6. TECHNICAL RULES & REGULATIONS ...................................... 32

6.1. AVIONICS SYSTEM .............................................................. 33

6.2. BATTERY .............................................................................. 33

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1. INTRODUCTION

Competition Schedule, General Rules and Regulations can be found in

the “General Rules and Regulations” Booklet.

For Category D2, the teams are expected to design and build TWO (2) to
FOUR (4) drones capable of executing autonomous payload pickup and
simultaneous drops in a pseudo fire-fighting mission.

2. CATEGORY D2 AWARDS

Award winners will be selected based on either presentation scores,

performance on the competition’s challenge day, or a combination of both.

There is no limit to the number of awards that a team can win, but there
may not be a winner for every award.

All scoring decisions made by the judges are final. For cases that require
arbitration, the Singapore Amazing Flying Machine Competition (SAFMC
organising committee will have the final say.

The list of awards for Cat D2 is listed in the subsequent sections.

2.1. CHAMPIONSHIP AWARD

This is the pinnacle award any team can win and is bestowed on the team
that achieves the highest total score across all areas. For category D2,
there will be THREE (3) Championship Awards: ONE (1) winner and TWO
(2) runners-up. The scoring and weightage can be found in Section 4.

2.2. BEST INTERNATIONAL TEAM AWARD

This award is given to the best international team in CAT D2. The SAFMC
organising committee recognises that international teams can bring a wide
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spectrum of unique designs and innovations and would like to award the
best international team in this category if the minimum standard is met.

2.3. JUDGES’ COMMENDATION

This award is given out to Category D2 teams exhibiting a high quality in

design and/or performance but did not win the Championship Award or the
runners-up prizes. Teams that have won any of the top 3 prizes will not be
considered for the Judge’s Commendation Prizes. Overall scores may be
taken into consideration for this award. Up to TWO (2) awards may be
given for the whole Category D2.

2.4. PRIZES

CATEGORY D2

Cash
Awards Medals Trophy Remarks
Prize

Cat D2
✔ ✔ $10,000
Championship Award

Cat D2
✔ $7,500
1st Runner Up

Cat D2
✔ $5,000
2nd Runner Up

Cat D2
✔
3rd and 4th runners up

Best International
✔ ✔ $10,000
Team Award

Cat D2 Judge’s Up to two teams can win

✔ $500
Commendation this award

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3. CATEGORY D2 MISSION

Teams are required to design and build a system of TWO (2) to FOUR (4)
drones to navigate through an indoor course, working dynamically and
collaboratively using either a centralised or de-centralised fully
autonomous control system. The system must possess localisation,
obstacle sensing and obstacle avoidance capabilities.

The detailed descriptions of the play field, available tasks, as well as the
scoring criteria are found in Section 3.4. Teams are advised to read
through these sections in detail to develop a strategy and identify key
design requirements, before designing the drone to execute the mission.
The technical rules for the drone are found in Section 6.

3.1. MISSION TASKS

Taking reference from real life fire-fighting application, the mission

requires the system of drones to collaboratively navigate through the
indoor course, simulating at least two drones working together to
extinguish a fire autonomously.

The key phases of the mission are:

Task 1: Take-off and Pick Up Payloads

Drone(s) must take off from the Launch Zone, either carrying pre-loaded
payloads or flying to the Supply Zone to retrieve payloads. Additionally,
the drones must be capable of identifying the colour(s) of the payload(s).

Teams are not allowed to input any commands after sending the initial
take-off command.

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Task 2: Navigate to the Drop Zone(s)

Drone(s) must navigate to the Drop Zones autonomously.

Task 3: Simultaneous Payload Drop

At least two drones must drop payloads simultaneously (within 3 seconds)

in the same Drop Zone to simulate the collaboration of assisting a pseudo
fire-fighting operation.

Task 4: Reloading of Payload

Upon release of the Payload(s), the drone(s) must be able to navigate

back to the Supply Zone and reload the Payload autonomously.

After picking up a new payload, the drone(s) can repeat the tasks until the
battery is depleted.

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3.2. PLAY FIELD

3.2.1 LAYOUT

The layout of the play field is shown in Figure 1. The play field is
approximately 20m x 20m with safety nets surrounding the perimeter.
These are subject to change without prior notice and may vary on
challenge day.

Figure 1 - Overall Play Field Layout

When referring to the above diagram, note that:

• The layout is not drawn to scale.

• The placement and number of pillar obstacles shown are for

illustration purposes only.

• The exact placement position of the bonus zone entrance and high
beam will not be given.

The approximate dimensions of the play field elements are shown below.

Play Field Element Approximate Dimensions

Launch Zone 4m x 2m

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Supply Zone 8m x 2m

Drop Zone 2m x 1.1m

Hotspot 0.7m x 0.7m

Bonus Zone 10m length, at least 3m width

Bonus Zone Entrance At least 2m wide; 1.5m tall

Small Pillar Obstacle 0.3m diameter, 2m height (Includes

a weighted circular base of 0.5m
diameter and 0.15m height)

Gaps Between Small Pillar At least 1m

Obstacles

Large Pillar Obstacle Diameter of at least 1.5m,

approximately 2m height

3.2.2 OBSTACLES

There will be three types of obstacles distributed across the play field.

3.2.2.1 Small Pillar Obstacle

Figure 2 – Small Pillar Obstacle

The first type, illustrated in Figure 2, consists of numerous pillars

positioned throughout an area. The pillars will be spaced apart at a
minimum distance of 100 cm.

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3.2.2.2 Large Pillar Obstacle

Figure 3 - Large Pillar Obstacle

The large pillar obstacle will have approximately a diameter of at least

1.5m, the exact dimensions will remain undisclosed. Please note that
Figure 3 is provided for illustrative purposes only and does not represent
the actual obstacle that will be present on challenge day.

3.2.2.3 Bonus Zone Entrance Obstacle

Figure 4 - Bonus Zone Entrance

The entrance to the bonus zone will feature the third type of obstacle: the
high beam (Depicted in purple). The entrance will have a minimum height
and width of 1.5m X 2m as depicted in Figure 4. The exact dimension of
the entrance will remain undisclosed.

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3.2.3 LAUNCH AND SUPPLY ZONE

Drones are required to begin their run within the Launch Zone. Payloads
that are not preloaded must be placed within the Supply Zones. Ground
support structures may be used to assist in the pickup of payloads in the
Supply Zones.

3.2.4 DROP ZONE

Each Drop Zone contains two Hotspots, each measuring 70cm by 70cm
and will be demarcated with their corresponding colours. A 20cm border
will be marked around the Hotspots, as per Figure 5.

Figure 5 - Drop Zone Layout

Scoring of the Payloads in the Drop Zone will be outlined in section 3.4.2
below.

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3.2.5 BONUS ZONE

Figure 6 - Bonus Zone Layout

An area within the play field will be designated as the Bonus Zone, where
completing a specific task can award bonus points. To achieve this, a
simultaneous payload drop must be performed within the confined space
of the Bonus Zone. However, the exact location of the Bonus Zone
entrance will not be disclosed.

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3.3. MISSION RULES

3.3.1 GENERAL

1. Teams must consist of TWO (2) to TEN (10) members.

2. The duration of the entire challenge is 60 minutes, consisting of 15
minutes setup time and 45 minutes mission time.
3. Teams may conduct functional checks of their drone(s) through
manual flight during the 15 minutes setup time, provided they obtain
permission from the referee. Rules in 3.3.4 and 5.4 would still apply.
4. Mission time segment will start immediately after the setup time
segment. No time extension will be given even if setup is
incomplete.
5. Unlimited runs are permitted within the mission time, with each run
receiving an independent score. The final score will be the highest
score achieved in a single run, and not a cumulative total of all runs.
6. A minimum of TWO (2) drones are required per run.
7. At the start of each run, all drones must begin at the Launch Zone,
and a run begins when the first drone takes off and leaves the
Launch Zone.
8. A run concludes under any of the following conditions, whichever is
earlier:
a. The team issues a command for all drones to land, after
obtaining permission to do so from the referee.
b. All drones land outside the Supply and Launch Zones.
c. When there is a manual takeover of any drone, after obtaining
permission to do so from the referee.
d. Only in case of emergency, manual takeover before obtaining
permission is allowed. Pilot must inform referee of the takeover
immediately after takeover is executed.

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 e. When all batteries on all drones run out.
f. When any drone is disarmed.
9. Each drone is only allowed to be manually preloaded once before a
run starts. Remaining payloads must be placed in Supply Zones of
the corresponding colour and picked up autonomously during the
run.
10. Each drone is not allowed to carry multiple payloads at one time.
11. Drones are not allowed to fly above any obstacle or walls.
12. Payloads dropped outside of Launch and Supply Zones cannot be
retrieved during the run.
13. Drones, carrier, and ground support structures are prohibited from
touching the ground outside of the Launch Zone and Supply Zones.
Any drone that violates this rule will be grounded immediately for that
specific run.
14. Teams are not allowed to repair/troubleshoot the drones during the
run. Any drones that malfunction during the run will be out for that
run. The run may continue if the remaining drones are deemed safe.
15. Ground robots are not allowed to be used.
16. Ground support structures are allowed to assist in the pickup of
payloads. They must be:
a. Designed so that the lowest point of a payload does not
exceed 30cm above the ground.
b. Placed within the boundaries of the Supply Zones.
17. Teams are only allowed to repair their drones or change batteries
outside of runs.
18. Any rules requiring permission are not guaranteed and must be
approved by the referees.
19. There are cameras placed near the Drop Zone(s) to capture the
simultaneous payload release. There is a possibility that the

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 placement of the cameras may overlap with any navigation aids
placed by the teams or in the path of the drones.

3.3.2 PAYLOAD AND CARRIER

1. Teams are allowed to use a maximum number of 6 blue and 6

green beanbags as the payloads.
2. The beanbags will be approximately 12cm (H) X 12cm (W) and
weigh approximately 85g each.
3. The beanbags can be found from the following link -
https://www.javysports.com/tossing-aiming/452-834-bean-
bags.html#/413-bean_bag-soft_pu_with_reinforced_stitching/414-
quantity-set_of_4
4. Each payload can be adjusted (E.g., Folding, attachment of clips
etc) but must be returned undamaged after the mission.
5. Payload(s) can be placed within or directly outside the carrier.
6. Carriers should not measure more than 30cm in any direction, this
includes any ropes or sticks. These measurements only apply to the
carrier. For instance, if the payload carrier is exactly 30cm and the
payload is intended to be mounted on top of it (Figure 7), it will be
considered compliant.

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 Figure 7 - Payload carrier

3.3.3 NAVIGATIONAL AIDS

1. A maximum of 30 navigational aids (e.g. UWB, fiducials) will be

allowed per run.
2. Navigational aids can only be rearranged between runs. Teams are
not allowed to change the positions of the navigation aids during the
run. Any navigation aids that are displaced or malfunction during the
run cannot be adjusted until the run ends and all drones are
disarmed.
3. Any visual aid must not exceed 30cm X 30cm X 30cm (L X B X H).
4. Any UWB must not exceed a base area of 1m X 1m (L X B).
5. All navigational aids must be:
a. Placed within play field.
b. Easily removable without leaving a mark.
c. Properly secured.

3.3.4 SAFETY

1. Drones must be disarmed with batteries disconnected before

resetting the runs.

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 2. Each team must have at least one safety pilot to manually disarm or
take over control of the drone(s). Teams are to conform to either one
of two possible setups:
a. Each drone must have an assigned safety pilot who is capable
of manually taking over control of the drone in case of
emergency or when instructed by SAFMC officials.
b. If a team does not maintain a one-to-one ratio of safety pilots
to drones (e.g., 4 drones with only 2 safety pilots), each safety
pilot must be ONLY capable of disarming and KILL ALL
drones immediately under the following conditions:
i. When instructed by the SAFMC official to do so.
ii. When any one drone requires an emergency landing.
Failure to comply to the safety rules will result in penalties at the
referee’s discretion or disqualification.
3. Safety pilots are only allowed to follow the drones (line-of-sight)
outside the safety net. The safety pilots need to demonstrate to the
referees that the drones are in computer-in-control (CIC) before any
drones take off.
4. Safety pilots must be on standby for manual takeover, disarming via
a switch during the runs.
5. Teams are to declare if the team are following the one-to-one ratio
of safety pilot or otherwise before the challenge starts.

3.4. MISSION SCORING

The possible points that can be awarded are listed in the table below. The
referees will make all scoring decisions and their decision is final. For
arbitrary cases, the Chief Referee will have the final say.

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3.4.1 PICKUP SCORE ELIGIBILITY

1. Up to 8 payloads are eligible to obtain scores from preload and

successful autonomous pickup of payloads per run.
• Points will not be awarded for pickup of subsequent payloads.

3.4.2 DROP SCORE ELIGIBILITY AND SCORING

1. To be considered simultaneous payload drop:

a. The time difference between the first and second payload
landing on the ground must not exceed 3 seconds.
b. Points will be awarded only if both payloads are within or
touching the boundary of either the Hotspots or Drop Zone.
i. Partial points if both payloads are within the Drop Zone.
ii. Full points if both payloads are correctly dropped in their
corresponding-coloured Hotspots.
2. Points will be awarded based on the final position of the payloads.
3. Non-simultaneous payload drops will result in 0 points.
4. No points are awarded for any 2 payloads dropped simultaneously
at different Drop Zones.

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Scoring Criteria

General and Pickup Points

Start Mission before setup time expires 2
Points per unique exit of Launch Zone with preloaded payload 2
(Only ONE (1) preload per drone in a run)
Points per unique exit of Supply Zone with successful 5
autonomous pick up of payload
Points for non-simultaneous payload drop 0

Simultaneous drop - outside Bonus Zone Points

Full Points for 2 correct payload drops & contact with Hotspots 10
Partial Points for 2 payloads within Drop Zone 5
Points for any payload outside of Drop Zone 0

No. of Outside Drop Zones

Simultaneous drop - within Bonus Zone with Points Scored
0 1 2 3
Full Points for 2 correct payload drops &
24 26 30 36
contact with Hotspots
Partial Points for 2 payloads within Drop Zone 12 13 15 18
Points for any payload outside of Drop Zone 0

NOTE: The highest score attained across the runs will be taken as the
mission score. If teams have the same total score, the run time will be
used to break ties.

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3.4.3 PENALTIES

The referees will make all penalty decisions and their decision is final. For
arbitrary cases, the Chief Referee will have the final say. Further
correspondence will not be entertained.

S/N DESCRIPTION PENALTY

1 Exceeding the 15 minutes setup time for Mission time will start
D2. regardless.

2 Use of external markers outside of the Referee’s discretion

play field. or disqualification

3 Internal markers within the play field Referee’s discretion

unable to be removed or leave a mark or disqualification
after being removed.

4 Interrupting the competition by Referee’s discretion

potentially interfering with other or disqualification
competitors, e.g. switching on your
platform’s VTX, transmitters, etc.

5 Attempting to subvert competition rules Referee’s discretion

or gain an unfair advantage over other or disqualification
teams, e.g. receiving assistance from
spectators, etc.

6 Violation of any Safety Rules during the Referee’s discretion

competition. or disqualification

7 Violation of any Mission Rules in Section Referee’s discretion

3.3. or disqualification

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4. SCORING

There are a total of FIVE (5) scoring components for the competition,
namely: Aerial Platform (A), Strategy, Learning Journey (L), Team
Challenge Video (V), and Mission (M). The first four components (A, S, L,
and V) will be assessed by our Category D2 Judges, while the Mission (M)
factor will be computed from the highest attained score from the challenge
attempts.

Scores will be awarded relative to the performance of other teams. Further

details on the scoring components can be found below.

The weightage of the scoring components is listed as follows:

Segment Factor Weightage

Aerial Platform 22.5%

Strategy 22.5%

Presentation Learning Journey and

5%
Insight

Team Challenge Video 10%

Competition Mission 40%

Total 100%

For CAT D2 the total score T is computed as:

T=A+S+L+V+M

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4.1. AERIAL PLATFORM FACTOR (A)

The Aerial Platform Factor (A) will be awarded based on the ability of the
teams to demonstrate a comprehensive understanding of the following
areas and apply them when designing and constructing their flying
machine. It carries a 22.5% weightage to the overall score.

1. Mechanical design
• Quality of fabrication, workmanship, materials used.
• Platform weight optimisation.
• Lower points for usage of commercial off the shelf products.
• Design factors affecting platform’s flight stability, and carrier
stability.

2. Electronics design
• Power / Battery sizing to meet mission objectives.
• Explanation of choice of sensor suite for the given
environment.
• Explanation of choice of embedded computer /
microprocessor.
• Neatness of harnessing and aesthetics.

3. Software design, in particular describing how their proposed

autonomous concept will work.
• Explanation of flight control strategy.
• Explanation of autonomy strategy.

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4.2. STRATEGY FACTOR (S)

The Strategy Factor (S) is a measure of the team’s creativity in the design
of their system setup workflow, drones and control interfaces, or any sub-
system which aids in their mission strategy. It is not mandatory to adopt
unique concepts, but teams that do so will score higher for this factor. It
carries a 22.5% weightage to the overall score.

Examples of innovative approaches may include:

• Non-conventional ideas and methods to achieve mission task(s).
• Innovative mechanisms for package delivery.
• Innovative choice of sensors.
• Innovative algorithms.

4.3. LEARNING JOURNEY AND INSIGHT FACTOR (L)

The Learning Journey and Insight Factor (L) is related to quality and
content of the presentation. It carries a 5% weightage to the overall score.
1. Learning Journey
• Challenges faced and overcame.
• Solutions explored and iterations to get to the final product.
• Team is able to explain the rationale behind design choices
and major decision.
• Key takeaways from the experience.
2. Delivery
• Speakers are clear and concise.
• Speakers are able to answer questions smoothly.
3. Teamwork
• Presentation should highlight the work of all the team
members, and how they have contributed and cooperated with
the team.

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 4. Fun
• Should be able to capture the attention of the judges.
• The judges should enjoy your presentation.

4.4. TEAM CHALLENGE VIDEO FACTOR (V)

The Team Challenge Video (V) scores provide a proof-of-flight insight

into how the drone system performs. It carries a 10% weightage to the
overall score.

1. Flightworthiness
• Drones must display their ability to perform stable, sustained
flight while carrying a package together.
2. Mission-readiness
• Drones must display their ability to avoid static obstacles.
• Drones must display their ability to manipulate the carrier to
unload packages.

4.5. MISSION FACTOR (M)

The points obtained during the mission will determine the team’s Mission
Factor (M) score. Please refer to Section 3.4 for the mission scoring and
penalties. This carries a 40% weightage to the overall score.

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5. FLOW OF EVENTS

Similar to real-world scenarios, teams may face unexpected issues during

the competition. They should not expect the conditions or layout of the
challenges to be fully defined beforehand or to remain identical for each
attempt between competitors. Factors such as venue conditions, and
other uncontrollable elements can also influence competition results.

5.1. PRESENTATION SEGMENT

Teams will deliver their presentation to a panel of judges in person during

the challenge day.

Teams will be given a maximum of TWENTY (20) minutes for this

segment. FIFTEEN (15) minutes are allocated for the team presentation,
and FIVE (5) minutes for Questions & Answers.

Please refer to Section 4 for scoring factors for the presentation

component.

During the presentation segment, teams are required to:

1. Bring each unique drone to be used for the challenge.

2. Teams are to prepare ONE (1) presentation in the form of TWO (2)
A0 posters OR up to 20 slides. The time limit for the presentation is
15 minutes.

5.2. TEAM CHALLENGE VIDEO

Teams are to submit ONE (1) Team Challenge Video to the SAFMC
organising committee. The video length should be no longer than TEN (10)
minutes and should include the key components as stated in Section 4.4.

26
Videos should be uploaded to YouTube and set as “Unlisted”. The link to
the video should be sent to [email protected] with title subject:
“[CAT D2] - [Team Name] – Challenge Video” before the deadline. The
deadline for submission is 28 February 2025, 2359hrs. Video should be
uploaded before the deadline, and any re-upload of the video detected
past the deadline may result in penalisation or disqualification. You may
write in to the SAFMC 2025 organising committee to request for a re-
upload of the Team Video if necessary.

The submitted video should adhere to the following guidelines:

1. Animations are NOT allowed.

2. Computer-aided simulations may NOT be used to prove flight
worthiness and mission-readiness.
3. Video must NOT be produced by a professional, or with
professional assistance.
4. No offensive images or audio.
5. Narration and/or subtitles are allowed.
6. All videos must be original work conceived and created by the
participants. No copyright materials (images, music, etc.) may be
used in the video unless the participants own the copyright or have
a license to use the material in the video.
7. If the participants have gained formal permission to use any
copyright materials (images, music, etc.) under terms and
conditions stipulated by the copyright owners,
acknowledgements/credits must be included at the end of the
video.
8. The use of logos including known commercial brands, institutional
crests or trademarks, unless integral to the project, is not allowed.

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9. Ownership of the underlying intellectual property of the video
remains with the participant(s) of the individual/team project, with
the following exception:
a. Participant(s) grant the SAFMC organising committee the
right to use, distribute and display their videos without further
compensation or notification to the participant(s).
b. Participant(s) grant the SAFMC organising committee the
right to use their images and videos for publicity and
advertising without further compensation or notification to
the participant(s).

5.3. CHALLENGE SEGMENT

Teams are expected to comply with the following during the challenge
segment:

1. Teams are to arrive at their designated reporting time.

2. At the allocated competition schedule, the team shall report to the
safety inspection point. A SAFMC official will check the drones for
any violation of the category rules and regulations. Teams who do
not pass the inspection will not be allowed to fly their drones in the
challenge mission and may face immediate disqualification from
the competition. The inspection will include, but is not limited to, the
following checks:
a. The maximum take-off weight (MTOW) and size of the drones.
b. RC / datalink / video link transmitter and receiver are operating
on allowed frequencies.
c. Electrical harnessing should be appropriately insulated and
should not be chafed or broken. No exposed wires and
connectors are permitted.

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d. All major assemblies and critical components must be securely
fastened to the drones; loose items should be tied down and
kept away from the propellers.
e. For drones operating on semi-autonomous / autonomous
modes, it should allow complete manual pilot override on-
demand via RC or GCS.
f. The drones must demonstrate failsafe capability in the event
of a loss of link between the RC/GCS and the drones. The
failsafe check procedure is as follows:
(1) All propellers and releasable payloads are to be
removed from the drones.
(2) Flight motors will be armed.
(3) Throttle will be applied to spin the motors. While the
motors are still spinning in the same flight mode, the
Wi-Fi router(s) will be switched off to simulate a link
loss.
(4) All motors should come to a complete stop
immediately. The drones should not attempt a hover
/ controlled descent / to return home.
g. A SAFMC official will be with the operator during the mission
attempt. The official may give instructions to the operator
depending on the behaviour of the drones (e.g. to land
immediately if the drones appear to be uncontrollable). The
operator is to comply immediately with all such instructions,
which may include the activation of the failsafe to ground the
drones.

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 h. The drones must demonstrate failsafe capability upon
operator command. The failsafe check procedure is as follows:
(1) All propellers and releasable payloads are to be
removed from the platform.
(2) Flight motors will be armed and throttled up.
(3) While the motors are still spinning in the same flight
mode, the operator must be able to activate a kill-
switch.
(4) All motors should come to a complete stop
immediately. The drones should not attempt a hover
/ controlled descent / to return home.
i. At the end of each mission attempt, the radio control
transmitter, datalink transceiver, video receiver and any other
wireless device for the flying machine must be switched off.

5.4. KEY RULES TO NOTE

Rules for personnel movement and communication during the setup time
and the mission attempt are dictated in the following points:

1. Only members of the participating team are allowed to be inside the

play field during their allocated time.
2. No outside communication or assistance from the audience /
spectators is allowed at any point. No headphones or earpieces are
allowed to be worn by the operator/pilot. Teams who flout this rule
may be disqualified. Communication amongst teammates is
allowed.
3. The netted play field must be clear of persons whenever any
drone(s) are armed or in flight.

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4. If any drone(s) are connected to batteries, persons entering the
netted play field must don the appropriate Personal Protective
Equipment (PPE), which will be provided.
5. Team members may enter the field to collect their drones, or to
bring it out of the play field to modify or repair (including changing
batteries) after it has landed, and all drones have been disarmed.
Entry into the play field is only allowed upon confirmation with
SAFMC officials.
6. Multiple video receivers are allowed. Only ONE (1) video
transmitter is allowed for each drone.
7. No radio control transmitters, datalink transmitters and video
transmitters and receivers are to be switched on within the
competition venue, unless permitted to do so in the holding area or
play field. All repairs / maintenance / troubleshooting should be
done in Raceband channel 8 with VTX set to either 25mW or pit-
stop mode. Non-compliance may lead to disqualification.
8. There will be a charging space allocated for teams to charge their
batteries. Teams will have to bring their own charger/charging
equipment should they plan to charge their batteries. At any point,
there MUST be at least ONE (1) team member overseeing the
charging. Failure to do so will result in disqualification.
9. Teams shall make sure that their designated representatives are
contactable and should arrive at least TEN (10) minutes before any
allocated timing. Latecomers may have their mission times
shortened or may be disqualified.

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6. TECHNICAL RULES & REGULATIONS

Each team is to design and build a solution based on the following

guidelines:

1. Off-the-shelf products and components are allowed in the

competition.
2. For safety considerations, the MTOW of an aerial drone must not
exceed 2.5kg. This MTOW includes the weight of carrier and
payload. The platform cannot not exceed 75cm in any direction
(this measurement includes the maximum diameter of the propeller
circles and propeller guards).
3. Participants are only allowed to use between to TWO (2) TO FOUR
(4) aerial drones for mission attempt. Teams can bring similar
backup drones to replace any drones that has become incapable
of flight. No additional time will be given to replace the drones.
4. Only electric-based flight propulsion is allowed. Both brushed and
brushless motors are allowed. No modification to the motors is
allowed.
5. No internal combustion or gasoline engines are allowed.
6. No tethering or umbilical wires to the drones are allowed during
flight.
7. External aids such as markers, indicators etc. will be allowed only
in the play field and can only be placed when there are no drones
armed or in flight.
8. For safety considerations, the drones must be able to perform full
RC manual pilot override and RC failsafe on demand.

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6.1. AVIONICS SYSTEM

There is no limit on the number of inertial measurement units (IMUs), flight

controllers (FCs), and other electronics used in the drones.

6.2. BATTERY

There is no limit on the number of batteries used, in series or parallel.

Participants should size their batteries and drones appropriately for the
respective mission. Lithium-Polymer (LiPo) batteries are preferred.

Batteries must be properly strapped or locked onto the drones before

launch.

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