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Re: frame perimeter
The frame perimeter is the *convex* polygon that is formed by the external vertices of the robot. So, you can have a u-shaped robot, in so far as it meets the bumper requirements, but its frame perimeter will still be a that polygon formed by the external vertices.
There are rules in the glossary in section 1.6! Frame perimeter and Bumper Zone are two important examples... The blue box explanation for the Frame Perimeter has a good way of understanding it.
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