(a) Arena Overview ICRA Autonomous QRC 10 × 20 m B 1 2 Demo Only 3 3 2 1 D Finish Demo Area The original step-field test provides a high-profile demonstration area for spot and others to try. It is accessible from the pallet steps, too. A Ramp Terrains Square 15° ramps can be rotated in place to form different terrains. Initial: Continuous Ramps-Flat Harder: Crossing Ramps-Slopes (Shown) C Pallet Steps With Pipes The elevation changes using 15-cm (6-in)-thick covered crates with rolling pipes to step over. Initial: Straight Harder: Offset (Shown) E Crate Terrain Several reconfigurable topographies are possible with negative obstacles (holes), too. Initial: Diagonal Gap Harder: Diagonal Hill (Shown) (b) FIGURE 2. An overview of the arena for QRC 2023: (a) actual and (b) schematic. SEPTEMBER 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE 155 D B Soft Floor With Step-overs A 10-cm (4-in)-thick floor allows feet to sink like in sand, with step-overs of 5 × 10 cm (2 × 4 in). Initial: Flat (Shown) Harder: 15° Crossing Slopes Slippery Floor With K-Rails Smooth, oriented-strand plywood flooring has 10 × 10-cm (4 × 4-in) rails at 45° to step over. Initial: Flat (Shown) Harder: 15° Crossing Slopes E C 7.2-m (24-ft)-Long Lanes With 120-cm (48-in)-Wide Hallways These lanes are based on standard test methods that will be used after the competition by the U.K. Atomic Energy Authority to train and certify remote robot operators trying to keep people out of extremely hazardous environments. A Start 5-m Walkway for Teams