FIRA Large League MiroSot Game Rules

FIRA 2005

 
Law 1 : The Field and the Ball

(a) Playground dimensions

A black (non-reflective) wooden rectangular playground 400cm x 280cm in size with 5cm high and 2.5cm thick white side-walls will be used. The playground should be flat. The ball should not start rolling anywhere on the playground. The topsides of the side-walls shall be black. Side walls will be black or grey to reduce interference with the team colors. Solid 7cm X 7cm isosceles triangles shall be fixed at the four corners of the playground to avoid the ball getting cornered. The surface texture of the board should be the material like a ping pong table, which provides higher grip. The playground may be dividable in multiple parts. The contacting surface should be flat and there should be no gaps.

(b) Markings on the playground

The field of play shall be marked as shown in Figure 1. The center circle will have a radius of 75cm.The major lines/arcs (centerline, goal area borderlines and the center circle) will be white in color and 3mm in thick. The free ball (Law 13) robot positions (circles) shall be marked in gray color.


Figure 1 Playground Marking


(c) The goal

The goal shall be 60cm wide. Posts and nets shall not be provided at the goal.

(d) The goal line and goal area

The goal line is the line just in front of the goal which is 60cm long. The goal areas (Figure 1) shall comprise of the area contained by the rectangle (sized 85 cm X 25cm in front of the goal).

(e) The penalty area

The penalty areas (Figure 1) shall comprise of areas contained by the rectangle (sized 120 cm * 70 cm in front of the goal) and the attached arc. Within each penalty area a penalty mark is made 50 cm from the midpoint between the goalposts and equidistant to them. An arc of a circle with a radius of 30 cm from each penalty mark is drawn outside the penalty area.

(f) The ball

An orange golf ball shall be used as the ball, with 42.7mm diameter and 46g weight.

(g) The filed location

The field shall be indoors..

(h) The lighting condition

The lighting condition in the competition site shall be fixed around 1,000 Lux. The uniform lighting condition should be provided.

Law 2 : The Players

(a) The overall system

A match shall be played by two teams, each consisting of 11 robots. One of the robots can be the goalkeeper (Law 2.(b).2). Three human team members, a "manager", a "coach" and a "trainer" shall only be allowed on stage. More than one host computers per team, for vision processing and location identifying can be used. In the beginning each team should bring 11 properly working robots on the playground, e.g. by host computer controlled robots. In case a team can not start with 11 robots, the team will be disqualified. During the competition it may happen that one or more robots don’t work, then it is allowed to play, but the at least the “uniform – color patch” of the robot(s) should be on the playground. The “Uniform” can be seen as the robot during the match. In case the uniform is broken, the team should replace this with new one.

(b) The robots

  1. The size of each robot shall be limited to 7.5cm X 7.5cm X 7.5cm. The height of the RF (radio-frequency) communication antenna will not be considered in deciding a robot's size.

    1. The topside of a robot must not be colored in orange. A color patch either blue or yellow, as assigned by the organizers, will identify the robots in a team. All the robots must have (at least) a 3.5cm X 3.5cm solid region of their team color patch, blue or yellow, visible on their top. A team's identification color will change from game to game, and the team color patch used should be detachable. When assigned with one of the 2-team colors (blue or yellow), the robots must not have any visible patches of those colors used by an opponent team. Note : The teams are recommended to prepare a minimum of 15 different color patches, other than blue and yellow, for individual robot identification.

    2. To enable infrared sensing a robot's sides should be colored light, except at regions necessarily used for robot functionality, such as those for sensors, wheels and the ball catching mechanism. The robots should wear uniforms and the size of which shall be limited to 8cm X 8cm X 8cm.

  2. The weight of the robot should be limited. The maximum weight of the robot should be 600 grams.
  3. A robot within its own goal area (Law 1.(d).) shall be considered as the "goalkeeper". The goalkeeper robot shall be allowed to catch or hold the ball only when it is inside its own goal area or penalty area.
  4. Each robot must be fully independent, with powering and motoring mechanisms self-contained. Only wireless communication shall be allowed for all kinds of interactions between the host computer and a robot.
  5. The robots are allowed to equip with arms, legs, etc., but they must comply with the size restrictions (Law 2.(b).1) even after the appendages fully expanded. None of the robots, except the single designated goalkeeper, shall be allowed to catch or hold the ball such that more than 30% of the ball is out of view either from the top or from the sides (Appendix 3).
  6. While a match is in progress, at any time the referee whistles the human operator should stop all robots using the communication between the robots and the host computer.

(c) Substitutions

Four substitutes shall be permitted while a game is in progress. If a team wants to substitute robots, team manager should inform the referee. Only with allowance of the referee robots can be substitute. The time keeper should record the substitute. At half time, unlimited substitutions can be made. When a substitution is desired while the game is in progress, the concerned team manager should call 'time-out' to notify the referee.

(d) Time-out

The human operator can call for 'time-out' to notify the referee. The referee will stop the game in case the call for time out does not have any effect with goal situation. It is recommended that the referee should call time outs when the ball is located in the opponent area when a team calls the time out. The game will restart with free-ball position on the side of the time-out calling team. Each team will be entitled for two time-outs in a game and each shall be of 3 minutes duration.

Law 3 : Transmissible Information

The manager, the coach or the trainer may transmit certain commands directly from the remote host computer to their robots. It is not allowed to transmit commands such as reset signals to stop any/all of the robots or restart signals, without the permission from the referee. Any other information, such as game strategy, can be communicated to robots only when a game is not in progress. The human operator should not directly control the motion of their robots either with a joystick, by keyboard or by mouse commands under any circumstances. While a game is in progress the host computer can send any information autonomously. The communication between robots during match as well as communication from robots to host computer are allowed. After the referee starts the game the human operator may not do anything with the system (touching keyboard, mouse, joystick etc.). In case a team influence the game with activities described above, the team will be disqualified immediately.

Law 4 : The Vision System

In order to identify the robots and the ball on the playground, a vision system can be used. Because of the large size of the play ground it is allowed to mount more than one camera in order to cover the whole playground. In case a team use only one camera the location of a team's camera or sensor system should be restricted to, over and above their own half of the field including the center line, so that the camera need not has to be moved after the side change at halftime. In case a team uses more than one camera the team should inform the organizer and FIRA Headquarter about the mounting position and height of the camera to prepare the camera fixture. In case that two teams with different number of camera it may happen to have problems with height of camera(s). If both teams wish to keep their cameras over and above the center circle of the playground, they shall be placed side by side, equidistant from the centerline and as close to each other as possible. The location of the overhead camera or sensor system should be at a height of from 2.5 m to 3 m. It is recommended all teams to prepare different ranges of the lens or zoom lenses.

Note: In case a camera (½ inch C-Mount) with 6mm Lens is located in the height of 3 meter above the playground an area of 3.2 m by 2.4 m can be covered.

Law 5 : Game Duration

In the preliminary round the duration of a game shall be two equal periods of 5 minutes each with a half time interval for 10 minutes. After preliminary round the duration of a game shall be two equal periods of 7 minutes each with a half time interval for 10 minutes. An official timekeeper will pause the clock during substitutions, while transporting an injured robot from the field, during time-out and during such situations that deem to be right as per the discretion of the timekeeper. If a team is not ready to resume the game after the half time, additional 5 minutes shall be allowed. Even after the allowed additional time if such a team is not ready to continue the game, that team will be disqualified from the game.

Law 6 : Game Commencement

  1. Before the commencement of a game, either the team color (blue/yellow) or the ball shall be decided by the toss of a coin. The team that wins the toss shall be allowed to choose either their robot's identification color (blue/yellow) or the ball. The team who receives the ball shall be allowed to opt for their carrier frequency band as well.
  2. At the commencement of the game, the attacking team will be allowed to position their robots freely in their own area and within the center circle. Then the defending team can place their robots freely in their own area except within the center circle. At the beginning of the first and second half, and after a goal has been scored, the ball should be kept within the center circle and the ball should be kicked or passed towards the team's own side. With a signal from the referee, the game shall be started and all robots may move freely.
  3. At the beginning of the game or after a goal has been scored, the game shall be commenced/continued, with the positions of the robots as described in Law 6.2.
  4. After the half time, the teams have to change their sides.
  5. The game will be started by the referee. The organizer should prepare the devices to start the both system by the button. After the “Call” ready from the referee, the cursor should be positioned on the “Start” button.

Law 7 : Method of Scoring

(a) The winner

A goal shall be scored when the whole of the ball passes over the goal line. The winner of a game shall be decided on the basis of the number of goals scored.
 

(b) The tiebreaker

In the event of a tie after the second half, the winner will be decided by the sudden death scheme (“Golden Goal”). The game will be continued after a 5 minutes break, for a maximum period of three minutes. The team managing to score the first goal will be declared as the winner. If the tie persists even after the extra 3 minutes game, the winner shall be decided through penalty-kicks. Each team shall take three penalty-kicks, which differs from Law 11 as only a kicker and a goalkeeper shall be allowed on the playground. The goalkeeper should be kept within its goal area and the positions of the kicker and of the ball shall be the same as per the Law 11. After the referee's whistle, the goalkeeper may come out of the goal area. In case of a tie even after the three-time penalty-kicks, additional penalty-kicks shall be allowed one-by-one, until the winner can be decided. All penalty-kicks shall be taken by a single robot and shall commence with the referee's whistle. A penalty-kick will be completed, when any one of the following happens:

  1. The goalkeeper catches the ball with its appendages (if any) in the goal area

  2. The ball comes out of goal area

  3. 10 seconds pass after the referee's whistle. (Original was 30 second, but it is too long)

(C) Disqualification

  1. In case a team can not finish the whole match because of disqualification or technical problems, or give up the match. The team which can not finish the match is declared as looser takes 0 point and with goal difference – 25.

  2. In case after the end of the first half the goal difference is more than 15 goals, the game will be stopped and declare the loosing team as the looser, will get the 0 point and the goal difference -25 other team will be declared as the winner.

  3. In case the robots are moving uncontrolled and they may harm other robots, referee can stop the match and declare that the team is disqualified.

  4. It is not allowed to influence the match by means of operating the system, for examples, push the keyboard, mouse button, etc.

  5. If a team is not ready to start the game on time, additional 5 minutes shall be allowed. Even after the allowed additional time if such a team is not ready to continue the game, that team will be disqualified from the game.

  6. If a team is not ready to resume the game after the half time, additional 5 minutes shall be allowed. Even after the allowed additional time if such a team is not ready to continue the game, that team will be disqualified from the game.

  7. Only team manager can express the protest against. In case other team member expresses the protest. The referee can show the yellow card. After yellow card the protest is continuing, referee can show the red card. The team member should leave the venue immediately.

Law 8 : Fouls

A foul will be called for in the following cases.

  1. Colliding with a robot of the opposite team, either intentionally or otherwise: the referee will call such fouls that directly affect the play of the game or that appear to have potential to harm the opponent robot. When a defender robot intentionally pushes an opponent robot, a free kick will be given to the opposite team. It is permitted to push the ball and an opponent player backwards provided the pushing player is always in contact with the ball.
    1. More than two robots from the same team block the ball, more than 10 seconds
    2. One robot blocks the ball without any external contact with other robots.
    3. More than four robots including goalkeeper robot are locating in Penalty area
  2. It is permitted to push the goalkeeper robot in the goal area, if the ball is between the pushing robot and the goalkeeper. However, pushing the goalkeeper into the goal along with the ball is not allowed. If an attacking robot pushes the goalkeeper along with the ball into the goal or when the opponent robot pushes the goalkeeper directly then the referee shall call goal kick as goalkeeper charging.
  3. Attacking with more than one robot in the goal area of the opposite team shall be penalized by a goal kick to be taken by the team of the goalkeeper. A robot is considered to be in the goal area if it is more than 50% inside, as judged by the referee. Defending with more than one robot in the goal area shall be penalized by a penalty- kick. No more than 1 attacking robots can stay in the goal area for longer than 3 seconds. (A robot is considered to be in the goal area if it is more than 50% inside, as judged by the referee.) An exception to this is the situation when the additional robot in the goal area is not there for defense or if it does not directly affect the play of the game. More than one robot(s) can not stay in the goal area longer than 3 seconds.
  4. The referee shall judge the penalty-kick situation when the additional robot in the goal area is not there for defense or if it does not directly affect the play of the game. The referee shall judge the penalty-kick situation.
  5. The goalkeeper robot should kick out the ball from its goal area (Law 1.(d).) within 10 seconds. The failure to do so will be penalized by giving a penalty kick to the opposite team.
  6. Giving a goal kick to the team of the goalkeeper will penalize the intentional blocking of a goalkeeper in its goal area.
  7. Only the referee and one of the human members of a team (manager, coach or trainer) shall be allowed to touch the robots. The award of a penalty-kick shall penalize touching the robots without the referee's permission.
  8. The number of robots on each side will be limited five without goalkeeper. In case attacking and defending the numbers of robot of each team may not exceed five robots own as well as opponent area. It means the maximum possible number of robots in one side is 11 (five attacking robots (for example yellow team) and one goalkeeper and five defending robots. But for the conversion from defending and attacking vice versa in the area of the center (light blue) the 8 robots of each team are allowed.

Law 9 : Play Interruptions

The play shall be interrupted and relocation of robots shall be done by a human operator, only when:

  1. A robot has to be changed.
  2. A robot has fallen. The referee should stop the match in appropriate moment. He restarts the match with Free Ball in the last position of the ball.
  3. A goal is scored or a foul occurs.
  4. Referee calls goal kick (Law 12) or free-ball (Law 13).Only team manager can call time out. In this case the referee stops the game when the ball is located in the opponent area.

Law 10 : Free Kick

In following situation the free kick will be given.

  1. More than two robots from the same team block the ball, more than 10 seconds
  2. One robot blocks the ball without any external contact with other robots
  3. More than three robots including goalkeeper robot are locating in Penalty area.
  4. In case more than five robots are either attacking or defending. (attacking with maximum number of fie robots, defending with five robots and the goalkeeper is allowed)
  5. When a defender robot intentionally pushes an opponent robot, a free kick will be given to the opposite team (Law 8.1.). The ball will be placed at the relevant free kick position (FK) on the playground (Appendix 1). The robot taking the kick shall be placed behind the ball. The attacking team can position its robots freely within its own side. The two defending robots are allowed to be placed at the leftmost and rightmost sides in touch with the front goal area line. With the referee's whistle all robots can start moving freely.

 

Free kick will be given in following situations:

  1. More than two robots from the same team block the ball, more than 10 seconds
  2. One robot blocks the ball without any external contact with other robots
  3. More than three robots including goalkeeper robot from the same team are locating in Penalty area (Area A + Area B)

There are six points (FK) – 4 Free-ball positions plus 2 Positions in the middle. Only one robot can be between ball and the goal, which should be outside of a circle with the radius 30 cm. Other opponent robots should be behind the ball and also outside of the circle with the radius 30 cm. All attacking robots should be located behind the ball, but may be located inside of the circle.

Position: There are six free kick positions (FK). In case free kick situation is happened. The nearest FK position will be selected. In case the attacking robot causes the foul, penalized by FK in the opponent area, the FK position in the area of the attacking robot should be selected. Only one robot can be between ball and the goal, which should be outside of a circle with the radius 30 cm. Other opponent robots should be behind the ball and also outside of the circle with the radius 30 cm. All attacking robots should be located behind the ball, but may be located inside of the circle. (Appendix 4)

Law 11 : Penalty-Kick

Penalty Kick

  1. When the Free-Kick situation is occurred in Penalty area (Area A +B)
  2. Two defending robots including goal keeper in the goal area (Area A)
  3. Goalie should bring the ball from the goal area (Area A) within 10 seconds.

A penalty-kick will be called under the following situations.

  1. Defending with more than one robot in a goal area (Law 8.4.).

  2. Failure on the part of a goalkeeper to kick out the ball from its goal area within 10 seconds (Law 8.6.).

  3. When the Free-Kick situation is occurred in Penalty Area (Area A +B)

  4. When any one of the human members touches the robots without the referee's permission, while the game is in progress (Law 8.8.).

  5. More than three robots except goal keeper are defending in the penalty area.

When the referee calls a penalty-kick, the ball will be placed at the relevant penalty kick position (PK) on the playground (Appendix 1). The robot taking the kick shall be placed behind the ball. While facing a penalty kick one of the sides of the goalkeeper must be in touch with the goal line. The goalkeeper may be oriented in any direction. Other robots shall be placed freely within the other side of the half-line, but the attacking team will get preference in positioning their robots. The game shall restart normally (all robots shall start moving freely) after the referee's whistle. The robot taking the penalty-kick may kick or dribble the ball.

Law 12 : Goal Kick

 

A goal kick will be called under the following situations.

  1. When an attacking robot pushes the goalkeeper in its goal area, the referee shall call goal kick as goalkeeper charging (Law 8.2.).

  2. Attacking with more than one robot in the goal area of the opposite team shall be penalized by a goal kick to be taken by the opposite team (Law 8.3.).

  3. Attacking with more than three robots in the penalty area of the opposite team shall be penalized by a goal kick to be taken by the opposite team.

  4. When an opponent robot intentionally blocks the goalkeeper in its goal area (Law 8.7.).

  5. When the goalkeeper catches the ball with its appendages (if any) in its own goal area.

  6. When a stalemate occurs in the goal area for 10 seconds.

During goal kick only the goalkeeper will be allowed within the goal area and the ball can be placed anywhere within the goal area. Other robots of the team shall be placed outside the goal area during goal kick. The five defending robots should be located on the center and other five robots should located in the own area. Five attacking robots should be located in the opponent area and five robot in its own area.

The attacking team will get preference in positioning their robots anywhere on the playground, but it must be as per Law 8.3. The defending team can then place its robots within their own side of the playground. The game shall restart with the referee's whistle.

Law 13 : Free-Ball

 

Referee will call a free-ball when a stalemate occurs for 10 seconds outside the goal area. When a free-ball is called within any quarter of the playground, the ball will be placed at the relevant free ball position (FB) (Appendix 1). One robot per team will be placed at locations 25cm apart from the ball position in the longitudinal direction of the playground. Other robots (of both teams) can be placed freely outside the quarter where the free-ball is being called, but with the rule that, the defending team will get their preference in positioning their robots. The game shall resume when the referee gives the signal and all robots may then move freely.

Law 14 : Referee and officials

For a match following officials are necessary

  1. Main Umpire
    He supervises the whole match. In case there is any unclear situation, he’ll decide. He should report any unclear situation to the FIRA HQ for the correction of the rule. Main referee should be one of the members of rule committee or one of FIRA officials.

  2. Referee.

  1. The referee should lead the match. During the competition referees can be officially nominated by FIRA HQ as well as the organizer. In case the organizer nominates the referee, the organizer announces the nomination to the team leader about the nomination.(b) Each match is controlled by a referee who has full authority to enforce the Game rule in connection with the match to which he has been appointed by FIRA HQ or Organizer

  2. Referee ensures that robots, communication, color patches etc that are used for the match meets the requirements of the rule.

  1. Time keeper. An official timekeeper will pause the clock during substitutions, while transporting an injured robot from the field, during time-out and during such situations that deem to be right as per the discretion of the timekeeper. Time keeper can be nominated by the Local Organizing Committee.