A UDRP procedure can be launched by:

When a domain name is identical to or is used in a confusing way with regard to a name to which certain rights have been attributed, like e.g. a brand name, a trade mark, a company name, etc.

But also when the domain name has been registered without any rights or justifiable claim or if the domain name has been registered and used with evil intentions, one can speak of an opposition.

If the opposition is rejected, the domain name remains the property of the current owner.
If the opposition is accepted by the UDRP commission, the validation starts with the following candidate on the waiting list.

The launching price of a UDRP procedure isn’t known yet, but what is certain is that the fee is to be paid by the plaintive at the beginning of the procedure. The fee cannot be refunded if the claim is deemed unfounded or if a negative ruling is given to the plaintive.

All terms and conditions pertaining to the UDRP procedure can be read on this page: Terms and conditions