[Clinton Bolinger]

Originally Posted by Andrew Schreiber

Yeah, I was wondering that myself. My only question is how does that work with polygons with 5 or more vertexes? Rather than try to illustrate with text I will give you points to plot, if I have a polygon with vertexes A= (0,0) B=(0,10) C=(10,10) D=(5,5) and E=(10,0) We know point D does not fall along the bumper perimeter. By your own argument the BP would be a polygon bounded by by ABCE. My primary question is that the rule states "BUMPERS must protect all exterior corners of the BUMPER PERIMETER (see Figure 8 - 2). " (From R08 I) The corner formed by BCE needs to be protected but obviously we cannot because there is no frame there. The logical thing would to run bumpers across angle BCD but as you said this is illegal because CD is not along the bumper perimeter.

The Bumpers must protect all the exterior corners of the BP not necessarily the corners of the robot frame.

-Oris-