  Scientific competitions are crucial in the field of service robotics. They
foster knowledge exchange and benchmarking, allowing teams to test their
research in unstandardized scenarios. In this paper, we summarize the trending
solutions and approaches used in RoboCup@Home. Further on, we discuss the
attained achievements and challenges to overcome in relation with the progress
required to fulfill the long-term goal of the league. Consequently, we propose
a set of milestones for upcoming competitions by considering the current
capabilities of the robots and their limitations.
  With this work we aim at laying the foundations towards the creation of
roadmaps that can help to direct efforts in testing and benchmarking in
robotics competitions.
