Law 1 : The Field and the
(a) Playground dimensions
The playing field is 1050 mm long and 680 mm wide, with
cut-off corners to avoid the ball getting cornered. The cut-off
is along a diagonal line that intersects the borderlines at 50
mm from the corners. The playing field is enclosed by 200 mm
The playing field has a smooth wooden surface painted with
non-gloss (non-reflective) green paint. The walls of the playing
field are painted grey (non-gloss).
(b) Markings on the playground
The only required marking on the playing field are the centre
line and centre of field markings. Other markings only have
aesthetic significance and are thus optional. The markings described below are an example. Other markings consistent with
markings of real soccer field are allowed.
The playing field dimensions and markings are as shown in Appendix 1.
Markings on the filed are white lines 5 mm wide. There are the
A centre line perpendicular to the long sides of the field
dividing the field in two halves.
A 10 mm diameter filled circle in the centre of the field.
A centre circle with a radius of 300 mm.
Goal border lines on the sides and the front of an area 300 mm
wide and 100 mm deep in front of each goal opening.
The free ball (Law 13) robot positions (circles) shall be
marked in grey colour.
(c) The goal
The goals are 300 mm wide and 150 mm high openings in the
centers of the walls on the short sides of the field. The goal
space is a volume 70 mm deep provided by a box attached behind
the goal opening. The inside walls of the goal are painted in
The goal areas shall comprise of areas contained by the
rectangle (sized 70cm X 15cm in front of the goal) and the
attached arc (20cm in parallel to the goal line and 5cm
perpendicular to it).
(d) The ball
A white or yellow tennis ball.
(f) The filed location
The field shall be indoors.
(g) The lighting condition
Bright, uniform, incandescent (e.g. 2 x 500W halogen) lighting
reflected from above, centre.
Law 2 : The
The players are fully autonomous robots with a vertical
cylindrical shape. Although KheperaSot is primarily intended for
Khepera robots other similar robots are allowed as long as their
diameter does not exceed 60 mm. During the match the robots are
not allowed to communicate with an operator or external
computer. It is expected that each robot has an on board vision
system. To allow the utilization of the K213 vision turret
players must have a vertical cylindrical dress with vertical,
equal-width black and white stripes (eight black, eight white).
The dress should include a hole for the camera in a black
stripe. The two competitors should be distinguishable from above
(different colours) and the forward direction of each robot must
by indicated by a pointer on the top of the robot.
Law 3: The Match
(a) The teams
A match shall be played between two teams, each consisting of
one robot player and up two human team members. The human team
members will be allowed place their robot on the field at the
position indicated by the referee before each round, start their
robot when indicated by the referee and remove the robot from
the field at conclusion of the match.
(b) Game duration
A match consist of five rounds of maximum four minutes each. A
round ends when a goal is scored or when the ball does not move
for thirty seconds. Ties will be decided on penalty shoot-out
(c) Time-out and substitutions
Once the match has started neither time outs nor substitutions
will be allowed, even in the case of robot failure.
Law 4 : Game Commencement
At the beginning of a round the ball is to be placed at the
centre of the field. The players will be positioned differently
at the start of each round. The referee will point out
180-degree rotation symmetric starting positions. Each player
starts facing the opponent's goal line. In other words a
starting position on the opponents half is possible. The referee
blows the whistle, and each team is allowed to start their
robot. The robots are not allowed to be touched once they have
been placed in the field. Thus the robots must be able to
perceive a start signal through their sensors, for example by
activating a rear-end IR-sensor (Khepera robot).
Law 5 : Method of Scoring
(a) The Winner
A team scores a goal when at least half the ball is inside the
goal of the opponent team. The team that scores the largest
number of goal is declared the winner.
(b) The Tiebreaker
In the event of a tie after the fifth round, the winner will
be decided by the sudden death scheme. Additional rounds are
played until a goal is scored. The team scoring the goal is
declared the winner.