anchor.diff:  The proposed robotics challenge seeks to motivate advancement of the state of
   the art toward practical realization.  The challenge is organized into three
   problem domains: arbitrary dimensional chains of integrators, roads with Dubins
  -cars, and manipulation tasks on the assembly line.</p>
  +cars, and factory cart clearing.</p>
   
   <h2 id="problems">Problem Domains</h2>
   
   <ol>
     <li><a href="#scalingcintegrators">scaling chains of integrators</a></li>
  -  <li><a href="#dubinstraffic">Dubins traffic</a></li>
  -  <li><a href="#pickandplace">pick-and-place</a></li>
  +  <li><a href="#dubinstraffic">traffic network of Dubins cars</a></li>
  +  <li><a href="#cartclearing">factory cart clearing</a></li>
   </ol>
   
   <div class="psetting" id="scalingcintegrators">
  
positive.code: </div>
  
  <div class="psetting" id="dubinstraffic">
  <h3>Dubins traffic</h3>
  <img src="img/dtraff_illustration.png" alt="Illustration of 6 Kobuki mobile bases moving around the end of a wall." />
  <p>
  The <em>Dubins traffic</em> domain involves navigation in a small network of
  two-lane roads with vehicles that have Dubins car dynamics.  There is an
  adversary that selects the motion of other cars.  The adversary is subject to
  assumptions such as obeying traffic rules and not parking unfairly at locations
  
negative.code: </p>
  </div>
  
  <div class="psetting" id="cartclearing">
  <h3>factory cart clearing</h3>
  <img src="img/pandp_illustration.png" alt="Illustration of a Baxter robot next to an empty table.  The arms are hanging downward and not in motion." />
  <p>
  The <em>factory cart clearing</em> domain concerns dexterous manipulation tasks
  motivated by assembly line activities.  The robot is required to process objects
  laid out on a cart that is brought to it and sort them into bins. Carts arrive
  after the robot indicates that it is ready, and carts are removed once a robot
  declares that it is done. Scoring will be based on how many carts can be
  processed correctly (described below) in a fixed amount of time.
  </p>
  </div>
  