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There is a big difference between Simulation League and Middle
Size League in RoboCup, that is, a program written for former can
not be easily transferred to latter. Since the final aim is real
robotics, we suggest a new match for RoboCup Soccer which can
fill this gap and solve such problems. We designed and implemented
a Modeled Robot Soccer Server most like Middle Size RoboCup that
contains a Soccer Filed, Ball, Referee, etc. Each participated
team should provide not only his robots controller program but
also the hardware model of own robots in VRML97 format. In
addition, we suggest the rules and regulations for this new
match. As an implementation of our ideas, we modeled and
simulated two teams of robots and present the set up method for
the match between them. According to these setups, two teams will
play and the scores are calculated by the automatic referee. This
project uses Webots,
a commercial mobile robot simulation
software.
Middle Size Simulation,
Robot Modeling,
Soccer Simulation,
RoboCup Soccer.
- A Match between two teams of robots. Images which was captured by their cameras are shown too.
- The field of play with lines, flagposts, goals and etc.
- Collision between yellow and blue teams.
Use WINRAR program (for .rar files) to unzip the movie files, then use Windows Media Player to open/watch them.
The match setups between the blue team with big robots (Arvand01) and the yellow team with
small robots (Arvand02).
During the match, the automated referee places the ball in soccer field after it goes out.
Each team uses a simple image processing algorithm to find the ball and each goal
(see the source code part).
The blue team members cooperate with each other; when one member gets the ball, another one goes
to opponent goal and the remainder goes to own goal to defend against the yellow team.
- [4,538 KB] A complete (10 minutes in simulation time) match, here ...
- [3,988 KB] When the blue team (arvand01) won, here ...
- [2,123 KB] When the yellow team (arvand02) won, here ...
- [0,226 KB] Blue team kicks the ball to yellow goal, here ...
- [1,541 KB] Blue goalkeeper, here ...
- [4,568 KB] Another one, here ...
- [0,843 KB] Yellow goalkeeper, here ...
- [1,041 KB] One scene of damaging during the match, here ...
- [1,533 KB] Cooperation between blue team members, here ...
- [...] more movies,
11 ,
12 ,
13 ,
14 .
- Complete source code in one, here ...
- Controllers, here ...
- Worlds, here ...
- Blue Soccer source code, here ...
- Yellow Soccer source code, here ...
- Blue Goalkeeper source code, here ...
- Yellow Goalkeeper source code, here ...
- Supervisor source code, here ...
These rules are based on Middle Size League. The most important
of them that are related to the new league are listed bellow. Please refer
to the Picture section to see their view in our league.
The Field of Play
- the color of the field surface must
be green.
- The field of play must be rectangular. The length of the touch
line must be greater than the length of the goal line. We modeled
a field of play with 256X220 pixels (8cmX7cm).
- The field of play is marked with lines. These lines belong to the
areas of which they are boundaries. The two longer boundary lines
are called touch lines. The two shorter lines are called goal
lines. All lines are not more than 256 pixels (8cm) wide. The
field of play is divided into two halves by a halfway line. The
center mark is indicated at the midpoint of the halfway line. A
circle with a radius of 36 pixels (1.12cm) is marked around it.
- goal area is defined at each end of the field as follows:
Two lines are drawn at right angles to the goal line, from the
inside of each goalpost. These lines extend into the field of
play for a distance of 30 pixels (1cm) and are joined by a line
drawn parallel with the goal line. The area bounded by these
lines and the goal line is the goal area.
- Instead of flagposts, cylinders with a diameter of 0.04cm and
height of 0.09cm are used.
The corner cylinders are painted in the same color as the nearest
goal, with the exception of 1/3 of the area at the center of the
cylinder, which has the color of the opposite goal.
- Goals must be placed on the center of each goal line. A wall is
placed around and behind the goal. The depth of the goal is at
least 0.115cm. The interior of one goal is blue, the other is
yellow. The exterior of the goal, the goalposts and the crossbar
are painted white.
The Ball
- The ball is spherical, of a radius of not more than 0.025cm, and
0.1g in mass. Its color must be red. The ball is shown in top figures
beside the robots.
The Number of Players
- A match is played by two modeled teams, each consisting of not
more than six players, one of whom is the goalkeeper. The maximum
difference of number of players between the two teams starting a
match is defined as 1, if the team with less robot has 4 or more
players.
The Players’ Equipment
- Robot soccer players must be built such that they are safe. Safe
means that robots do not damage other robots or any objects of
the playground. Communication between the robots of a team is
allowed
- The size of each robot player must obey the following constraints:
- The projection of the robot’s shape onto the
floor fits into a square of size at least 0.075cmX0.075cm and
at most 0.115cmX0.115cm.
- The robot should be in the configuration that fits
within the 0.075cmX0.075cm square for the majority of
play time, in particular when moving around the field, and only
occasionally, e.g. when kicking or dribbling, extend to the
0.115cmX0.115cm limit.
- The robot height must be at least 0.075cm and at most 0.130cm.
- The base color of a robot’s body must be black.
- Robot markers include color markers and number markers.
Color markers should be designed as follows:
- Above 0.05cm and below 0.112cm, color markers must be present and visible
from all sides.
- The height and width of a color marker must be greater than or equal to
0.025cm in any direction.
- The marker color must be one of the two predetermined official colors.
The official colors are with RGB (Red, Green and Blue
color numbers)(0, 255, 255) for blue robots and with RGB(255, 220,
130) for yellow robots.
Also each robot must carry a Number Marker. The number
1 is reserved for goalkeepers.
The Referee
In this league, each match is controlled by two referees:
Automated Referee and Human Referee.
Rules judged by the automated referee:
The Automated Referee is a controller/supervisor program that
manage the game. It does the following tasks:
- Starts the game.
- Assigns blue or yellow color to one team randomly. The blue team
starts the match respectively.
- Imports the model of robots to game and load their controllers
programs.
- Acts as timekeeper and keeps a record of the match.
- When a team scores, the referee performs a number of tasks. It
updates the score (showing in the top of simulation scene), moves
the ball to the centre mark and moves the players to start
predefined positions.
- When the ball goes out of the field, the referee moves the ball to a proper
position.
- Finishes the game and saves the game result to an
storage file.
Rules Judged by The Human Referee:
The Human Referee sets up a match firstly. During the match, some
errors may occur for the league system, in the other hand, there
are some fouls like "obstruction" which are difficult to judge
automatically. To resolve such situations, the human referee is
allowed. Other responsibilities are when intentionally blocking
the movement of other players, inappropriate behaviour and
blocking the goal with too many players.
Duration and Scoring
A match lasts two equal periods of 10 minutes in simulation cycle.
Players are entitled to an interval at half-time. The half-time
interval must not exceed 10 minutes.
A goal is scored when the whole of the ball passes over the goal
line, between the goalposts and under the crossbar.
The team scoring the greater number of goals during a match is
the winner. If both teams score an equal number of goals, or if
no goals are scored, the match is drawn.
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