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RAS Soccer Rules
Mattias Bratt
Anders Dovervik
Patric Jensfelt
Revision 1.2 2007-03-31
This document describes the rules for the Robotics and Autonomous
Systems course 2D1426 at the Royal Institute of technology. They are
based on the Robocup F180 league rules and adapted to this course by
Mattias Bratt.
The latest version of this document can be found on the course
homepage. It is up to the teams to keep up with any
changes/clarifications made to the rules. In case any such
change/clarification is made a new version of this document will be
posted on the course web site.
| Rev |
Date |
Spec |
| 1.2 |
2007-03-31 |
Clarification on wheels, losing parts, start position, |
| |
|
initialization and kicking device |
| 1.1 |
2007-03-30 |
More rules about what is allowed to add in Section 1.8 |
| |
|
no beacons or lights and clarification about wheels. |
| |
|
Specified start point for unopposed scoring for seeding |
| 1.0 |
2007-03-24 |
Reformatted the rules from year 2005 and 2006 and |
| |
|
added some rules about what is allowed to add to the robot |
1.1 Safety
A robot must not have in its construction anything that is dangerous
to it, other robots or humans. This means that the robot should be
constructed so that it does not get stuck in the opponent
easily. Anything sticking out from it, like a ``bumper wire'', has to
be insulated so that it does not cause short circuits in the opponent.
1.2 Shape
A robot must fit in a 180 mm diameter vertical cylinder at all times,
except for flexible parts that cannot stop the opponent or guide the
ball. All such flexible parts must be above the height of the ball.
All parts that were part of the robot when started are counted in the
shape of the robot even if they fall of. If the robot loses some part
and drives away from it, it will thus soon violate the Shape rule (see
Section
1.2). A robot that loses parts has to be taken off
for repairs together with the piece falling off. You do not have to
put back the piece falling off if you do not want to.
All robots entering the competition have to comply with the Safety rule
(see Section 1.1) and therefore, under normal
circumstances, if something falls of a robot during a match it is
considered to be the result of bad robustness.
All robots must carry a colour marker in the form of a 4 cm high
purple paper (will be handed out so that everyone has exactly the same
type and colour) visible from all directions. When viewed from the
side this colour marker must be at least 10cm wide from any angle. A
4cm high cylinder of diameter 10cm is one example of a marker that
would fit the rules. The lower edge must be between 5 and 10 cm above
the floor and it should be at the same height above the floor around
the robot.
No other colours that can be confused with the ball, goals and field
are allowed on the robots. The other teams decide what is confusing.
The robot must not harm the surface of the field when it moves. Keep
this in mind when constructing sliding support points. Metal spikes,
Velcro, and sand paper are specifically prohibited for the purpose of
locomotion.
All forms of communication with the robot are forbidden, except when
the robot is taken off the field for repair.
Kicking devices are allowed provided all rules are followed at every
stage of the kicking. Examples of rules to keep in mind are Safety
(see Section
1.1), Shape (see Section
1.2),
and Holding the ball (see Section
2.8). The kicking
device must at all times during the kick obey the Shape rule.
Dribbling devices, which actively exert backspin on the ball, and
which keep the ball in contact with the robot, are permitted under
certain conditions. The force actively exerted on the ball must not be
side ways. This means that vertical or partially vertical dribbling
bars, known as side dribblers, are not permitted. ``Screw-shaped''
dribbler are not allowed either. Having two dribblers with a slight
angle in between is allowed and so is having a dribbler that has a
varying diameter. In all cases the robot must make sure not to violate
the rule of not Holding the ball (see Section
2.8).
It is allowed to add your own components to the robot but these must
follow the rest of the rules dictated by this document (such as
Safety (see Section
1.1), Shape (see
Section
1.2), and Holding the ball (see
Section
2.8)). Also remember that you are not allowed to
keep the components handed out to you by the course.
No other or additional camera is allowed than the one provided to you
by the course.
You are allowed to add your own motors but the drive wheels should be
powered by the same type of motors provided to you by the course. You
are not allowed to increase the voltage to the motors either.
Additional on-board processors are allowed. However, only 8-bit
processors, such as a PIC, or less advanced are allowed. The eyebot is
the only allowed main computer.
You can make your own wheels but they need to have the same diameter
as the standard wheels and use the same type of ``o-rings'' such that
the contact with the field is the same. You are not allowed to have
tracks or other types of skid-steering as that would destroy the
field. You are only allowed to have one ``o-ring'' per wheel.
You are not allowed to add beacons to assist the localization.
You are not allowed to add lights, lasers, etc to your robot unless
all other groups agree to it as it might effect their cameras in a
very negative way.
There is only one robot on each team.
The ball used in the game is red-orange golf ball. The minimum allowed
diameter for a golf ball is 42.67mm.
Starts the game and repositions the ball to the centre point after
each scored goal. He also moves the ball to an arbitrary neutral
position in case of a deadlock during the game.
A match will be three, four or five minutes long, for group play,
semifinals and final respectively. There are no breaks.
When the game starts both robots must touch their own extended goal
lines (anywhere along the short edge of the field out to the corners)
with some solid part of their body. The ball is at the centre point.
If both teams in a match prefer to play against the same goal, a coin
is tossed to decide the matter.
The teams are not allowed to adjust the position of their robot based
on the position of the opponent's robot. This mean that the teams
should decide where to place the robots first and then place them on
the field at the same time.
The robot is allowed to start calculations before the match has
started, for example to initialize lookup tables. The time between
putting the robot on the field the start of the match is typically not
more than 30-60 seconds. After the signal have been given to the robot
that the game has started (pressed a button for example) the team
cannot interfere with the robot unless for repair (see
Section 2.7).
A goal is scored whenever the entire ball is beyond the full width of
the white goal line.
2.7 Repair
A robot may be taken off the field, e.g., for repairs, but must then
stay off the field for a minimum of 30 seconds. This is the only case
in which communication with the robot is permitted. After 30 seconds
the robot may be put back into play at any time, in the defensive
corner that is farthest from the ball.
2.8 Holding the ball
A robot is holding the ball if it takes full control of the ball by
removing any of its degrees of freedom. This would be the case if for
example a suction device prevented the ball from rolling when the
robot moves.
Furthermore, at least 75% of the diameter (80% of the area) of the
ball must be outside the convex hull of the robot when viewed from
above. This means that at most 10.67mm of the ball (25% of 42.67mm)
can be inside the convex hull of the robot.
A robot holding the ball will be sent off the field for 20
seconds. The robot should be replaced on the field in the same way as
after a repair (see Section 2.7).
A robot that kicks the ball more than five centimeters into the air is
sent off for 20 seconds.
A robot may not cross full width of its own goal line with any solid
part of its body. If it makes contact with the ball under such
conditions a goal is awarded to the opponent.
The competition starts with a seeding round where all robots get two
minutes each to score as many goals as possible unopposed. An extra
minute is allowed if a robot has not scored in two minutes, but if the
robot still does not score it is excluded from the competition.
At the start and after scored goals the ball is put somewhere close to
the centre line but not on the centre point as in a real game. The
robot must not be manually aimed at the ball and it should be placed
close to the short wall (typically behind goal line) on the defensive
side.
To pass the course, a team must be able to demonstrate unopposed
scoring for several initial ball positions.
The robots are divided into groups depending on their success in the
seeding round (see Table
2.13.2). In group play, two
points are awarded for a win, and one for a draw.
In the finals ``golden goal'' is used to settle a game on an equal
result at full time (i.e. the game continues until one robot scores).
If four robots from two or three different groups enter the semifinals
they never meet a robot from their own group, and group winners meet
robots placing second if possible. If three robots enter there is
another round of group play in place of ordinary semifinals. In this
case the golden goal rule is not used.
Table 2.1:
Rules for how the tournament is played with different number
of robots. Column two shows how he seeding number tells what group a
robot will play in. Group three shows how the semifinals are played.
| # robots |
Seeding# to groups |
Semifinal |
|
| 10 |
(1,4,10,5)(2,9,7)(3,8,6) |
2+1+1 |
|
| 9 |
(1,7,6)(2,8,5)(3,9,4) |
1+1+1 |
|
| 8 |
(1,8,4,5)(2,7,3,6) |
2+2 |
|
| 7 |
(1,3,6,5)(2,7,4) |
2+1 |
|
| 6 |
(1,6,4)(2,5,3) |
2+2 |
|
| 5 |
(1,2,3,4,5) |
4 |
|
| 4 |
(1,2,3,4) |
4 |
|
| 3 |
(1,2,3) |
2 (final) |
|
|
RAS Soccer Rules
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The translation was initiated by Patric Jensfelt on 2007-04-02
Patric Jensfelt
2007-04-02
