Middle-Size Robot League

Competition Rules

Rule 1 - Team Qualification

1-0 Admissibility of Team Qualification Procedures

The organizing committee of a tournament may limit the number of teams, that are allowed to participate in the tournament, for any of the following reasons:

In order to limit the number of participating teams, the organizing committee of a tournament may request teams to successfully complete a qualification procedure.

The team qualification procedure shall be such that scientific progress and exchange is fostered.

1-1 Team Qualification for RoboCup-2002

For RoboCup-2002, the team qualification procedure requires teams to submit the following material:

Teams are encouraged to provide web-accessible player capability videos on their team web pages.

1-2 Scientific Papers

Because RoboCup is primarily a scientific (not an entertainment) event, teams are strongly encouraged to submit technical papers to journals, major conferences and workshops. In particular, if a RoboCup tournament is associated or held in conjunction with a conference or a workshop, teams are strongly encouraged to submit papers to this event.

The usual scientific evaluation criteria will be applied to scientific papers.

Teams contributing technical papers to the scientific community will be given preference over teams that do not.

1-3 Team Description Paper

Every team must submit a team description paper. Details on content, format, and length will be provided by the league organizing committee.

The RoboCup-2000 team description paper should contain in detail the specific approach chosen by the team to build and program a team of robotic soccer players, even if the methods used are not innovative. Team description papers should also describe the scientific problems a teams intents to tackle, the goals it strives to achieve, and the methods it tries to use within its RoboCup effort.

A good team description paper allows the reader to find out:

Teams without a team description paper WILL BE EXCLUDED from participation in the tournament.

1-4 Player Capability Video

No player capability video is required. However, teams are encouraged to provide web-accessible videos on their team web pages.

1-5 Due Date, Submission, and Review of Team Qualification Material

All team qualification material must be submitted to the chair of the organizing committee for the middle size robot league by a date to be defined (tentatively March 1, 2002).

The league organizing committee will review the material submitted as part of the qualification procedure and select teams for the tournament.

1-6 Agreement on Open Source Development

For the benefit of scientific exchange, teams should make available technology and software developed for RoboCup as much as possible after a tournament has been played.

Rule 2 - Referee Recruitment and Assignment

2-1 Selection of Referees

Every team participating in a tournament must name at least two team members who serve as referees for matches.

The named persons must have good knowledge of the rules as applied in the tournament. The persons should be selected among the more senior members of a team, and preferrably have prior experience with games in the RoboCup middle size league.

2-2 Referee Assignment

The assignment of referees and assistants to matches is the task of the league organizing committee.

One referee and at least one assistant will be assigned for judgement of a match. The league organizing committee may choose to assign more assistants. The recommended number is one main referee, one assistant referee and two goal assistants.

Assistants can be assigned specific tasks, like handling the stop watch, ensuring the absence of manual interference by team members, and such. It is recommended that the assistant referee takes care of timing, taking notes on cards shown, and filling out the referee game sheet. The duties of the goal assistants is to check the occurrence of goals and survey the timing rules regarding robots in the goal area.

If either a referee or an assistant assigned to a match cannot fulfill his duty for some reason, he has to inform the organizing committee as soon as possible, give the reason for his inability to fulfill his duty, and request a replacement to be named.

2-3 Referees during Match

The referee and assistant referees should were black or white clothing and avoid reserved colors for the ball, the goals, and player markings in their clothing.

The referee and his assistants will be close to but off the field during play. The referee should take a position at some distance to team areas. The referee may order team members to maintain positions at an appropriate distance.

The referee and the assistants may enter the field in particular situations, e.g. to re-position the ball when stuck.

The referee and his assistants should avoid to interfere with robots as much as possible, unless a robot is threatening to cause serious damage to people, other robots, or other equipment.

The referee may order team members onto the field in order to move or remove a robot. Orders by the referee have to be executed promptly.

The referee may allow members of a team to enter the field, in particular during game breaks. No team members are allowed to enter the field or to interfere otherwise with the game process unless permitted or ordered by the referee.

2-4 Infringements/Sanctions

A team failing to meet its refereeing duties, either by not naming appropriate persons to the organizing committee or by the assigned referee not fulfilling his duties, is subject to penalties decided upon by the organizing committee of a torunament.

Penalties may include fines, to be paid immediately before the team's next match, or exclusion from the ongoing or future torunaments.

Rule 3 - Tournament Regulations

3-0 Preliminary Remarks

In order to provide a good opportunity to gain match experience, the tournament plan shall be designed such that all teams can play as many games as possible.

3-1 Parts of the Competition

The RoboCup-2002 competition consist of the following parts:

Every team that is admitted to the tournament must participate in all parts of the competition. Teams that do not qualify for the playoffs after the preliminary rounds will have to serve as referees and for various other duties.

Teams failing to serve the duties they have been assigned to may be excluded from future tournaments.

3-2 Team Registration, Setup, and Technical Inspection

Every team has to set up and register on site at least 24 hours before the first game of the tournament is scheduled.

The Middle Size League Committee strongly recommends arriving no later than 40 hours before scheduled games start.

It is the sole responsibility of the teams to plan transport of equipment and travel of team members such that both arrive on time. Teams should carefully take into account any potential visa and/or customs problems that may arise.

Teams which did not personally register on site at least 24 hours prior to the first scheduled game may be excluded from the tournament.

Teams excluded from the tournament because of showing up late are not eligible to a refund of registration fees or any other kind of expenses. Neither The RobCup Federation, nor the local organizers, nor anyone else involved in organizing a RoboCup tournament can be held liable for any cost, or damage suffered, by teams excluded from the tournament.

Team shall set up their robots and equipment and make any adjustments to local conditions well before the first game starts.

During setup, teams should use the field only when necessary, and only for shortest possible times. The League Organizing Committee may impose restrictions on the use of fields during setup and install special procedures for obtaining access to the field.

The Middle Size League Technical Committee will organize a technical inspection of robots during the setup phase. Currently, the following procedure will be followed:

  1. Size and shape constraints will not be checked during technical inspection, unless some team leader explicitly requires a check.
  2. All robots will be photographed or filmed during technical inspection.
  3. Once technical inspection is over, size constraints are checked only if someone assumes some physical change to a robot. Objections may be raised only up to 10 minutes before the game starts, and only by a team leader.
  4. The opponent team must permit inspection of robots for 10 minutes, from 20 minutes to 10 minutes before game start.
  5. No objections will be taken later on.

Note:Details of technical inspection are subject to changes by the League Technical Committee at any time, depending on the situation or requests by a team leader meeting on site.

3-3 Preliminary Rounds

For the preliminary rounds, teams will be assigned to groups.

The number of groups will be determined by the League Organizing Committee, which takes into account the number of qualified teams as well as site and schedule constraints of the tournament.

Assignment of teams to groups will be done by performing a draw. Details of the draw procedure will be announced during a team leader meeting prior to the tournament. Team leaders must be present during the draw procedure.

Each group will play a single round of round-robin matches, i.e. each team will play once against every other team in its group.

As a guideline, every team should be prepared to play as many as eight (8) games within two days.

During the preliminary rounds, a match ending in a draw will NOT be decided by a penalty shoot-out.

The winner of a match will be awarded three (3) points, the loser will be awarded no points. If a match ends in a draw, each team will be awarded one point.

All points awarded to a team are added up.

Teams are ranked within their group by the points they gained during the preliminary round. If two or more teams have the same number of points, a decision is based upon the following criteria, in the order given:

  1. Goal difference.
  2. Absolute number of goals achieved.
  3. Result of direct match-up.
  4. Result of technical challenge between tied teams.

The best eight teams of all groups qualify for the playoffs.

We assume the number of groups m to be less than eight. Then the first 8/m (rounded down to the next lower integer) teams in each group are qualified for the playoffs.

If eight is not a multiple of the number of groups m, then wildcard games may be played to determine the teams for remaining spots in the playoffs. Details will be announced prior to the tournament.

3-4 Playoffs

The playoffs consist of quarter finals, half finals, and finals matches. Every playoff round is decided by a single match (best-of-one).

If playoff matches end in a draw after regular match time, they must be decided by playing a penalty shoot-out.

If playoff matches are still drawn after a penalty shoot-out, they will be decided by playing a technical challenge round.

A plan of playoff matches will be made available by the organizing committee before start of the tournament.

3-4-1 Penalty Shoot-Out

Each team is awarded 5 penalty shots. All five shots will be taken in sequence. If a decision is already reached (e.g. the first team made one out of five shots, and the second team made already two), the remaining shots can be dropped by decision of the referee(s).

3-4-2 Technical Challenge

Technical challenge tasks will be selected from F-2000 Challenges and announced at a later date.

3-6 Scientific and Engineering Awards

In order to promote the scientific goals of RoboCup and an according team attitude, the Middle Size League Committee will give recognition to specific scientific and engineering achievements tested by challenge competition, as described in F-2000 Challenges

Number and character of awards will be determined in accordance with the Executive Committee of The RoboCup Federation.

Rule 4 - Details of the Field

4-1 Size

The field will be 10 m long and 5 m wide.

4-2 Surface

The color of the field surface is green.

4-3 Lines

The width of all internal lines will be 5 cm. The width of border lines will be 12.5 cm.

4-4 Lighting

The brightness of the field will be adjusted between 950 and 1050 lux.

4-5 Goals

The goals are made from walls which are 90 cm high.
The inside of one goal is painted blue, that of the other one yellow.
The outside of both goals are painted white (see Figure 4-1).

4-6 Flagposts

Flagposts are cylinders as described in rule RC1-5 (see Figure 4-1).

4-7 Field limits

The field is limited by poles, diameter 10cm, height 50 cm, fixed to the groud one meter out from the field border, leaving 40 cm from each other (see Figure 4-1). On each long side of the field there may be at most two sponsor logos on panels spanning each over 3 poles, fixed on them. The color of the poles is white on the upper 30 cm and black on the lower 20 cm. (see figure 4-2)

Figure 4-1. Detail of the field:



Rule 5 - Details of the Ball

5-1 Official Tournament Ball

The official tournament ball used in matches will be the GEO Winter (orange version) produced by Nike.

Short Note - Summary of Object Colorings

Here is the list of colors for objects on the field (surface, wall, goals, and ball):

Object Color
Field surface GREEN
Lines on the field and the walls. WHITE
One of the goals BLUE
The other goal YELLOW
Robot bodies BLACK
Markers of robots for team A LIGHT BLUE
Markers of robots for team B MAGENTA/PURPLE

URL: ./RoboCup02-rules.html
Refer to: Andrea Bonarini