A Continuous Integration Based Simulation Environment for Home Support Robot and its Application to RoboCup Competition.

In this paper, we describe the development of the RoboCup competition simulation system. The simulation system is based on continuous integration system. The competitor will submit his code to the repository, and the code will be automatically evaluated to calculate the score. We achieved fairness by implementing a random object placement algorithm generated from the same random number seed and delivered all the data as a Docker image so that every competitor can share the same environment. By using a central job server and a self-hosting job execution agent, competitors can bring their own computing resources to the competition. The result of applying our system to RoboCup2021 Worldwide is shown.