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| FIRA
Small League MiroSot Game Rules |
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Law 1 : The Field and the Ball
(a) Playground dimensions
A black (non-reflective) wooden rectangular playground 150cm
X 130cm in size with 5cm high and 2.5cm thick white side-walls
will be used. The topsides of the side-walls shall be black
in color with the walls painted in white (side view). 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 will be that of a ping pong table.
(b) Markings on the playground (Appendix 1)
The field of play shall be marked as shown in Appendix 1.
The center circle will have a radius of 20cm.
The arc, which is part of the goal area, will be 20cm along
the goal line and 5cm perpendicular to it.
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.
(c) The goal
The goal shall be 40cm 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 40cm long.
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).
(e) The ball
An orange golf ball shall be used as the ball, with 42.7mm
diameter and 46g weight.
(f) The filed location
The field shall be indoors.
(g) The lighting condition
The lighting condition in the competition site shall be fixed
around 1,000 Lux.
Law 2 : The Players
(a) The overall system (Appendix 2)
A match shall be played by two teams, each consisting of
three 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. One host computer per team, mainly dedicated
to vision processing and for location identifying, can be
used.
(b) The robots
The size of each robot shall be limited to 7.5cm X 7.5cm
X 7.5cm. The height of the RF communication antenna will not
be considered in deciding a robot's size.
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
6 different color patches, other than blue and yellow, for
individual robot identification
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.
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.
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.
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).
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
Two substitutes shall be permitted while a game is in progress.
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, and the referee will stop the game at an appropriate
moment. The game will restart, with all the robots and the
ball placed at the same positions as they were occupying at
the time of interrupting the game.
(d) Time-out
The human operator can call for 'time-out' to notify the
referee. Each team will be entitled for two time-outs in a
game and each shall be of 2 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
or by keyboard commands under any circumstances. While a game
is in progress the host computer can send any information
autonomously.
Law 4 : The Vision System (Appendix 3)
In order to identify the robots and the ball on the playground,
a vision system can be used. 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.
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 2m or higher.
Law 5 : Game Duration
The duration of a game shall be two equal periods of 5 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
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.
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 halves, 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.
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.
After the half time, the teams have to change their sides.
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. 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:
The goalkeeper catches the ball with its appendages (if any)
in the goal area.
The ball comes out of goal area.
Thirty (30) seconds pass after the referee's whistle.
Law 8 : Fouls
A foul will be called for in the following cases.
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.
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.
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. (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 in not there for defense
or if it does not directly affect the play of the game. 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.
It is referred to as handling, as judged by the referee,
when a robot other than the goalkeeper catches the ball. It
is also considered as handling, if a robot firmly attaches
itself to the ball such a way that no other robot is allowed
to manipulate the ball.
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.
Giving a goal kick to the team of the goalkeeper will penalize
the intentional blocking of a goalkeeper in its goal area.
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.
Law 9 : Play Interruptions
The play shall be interrupted and relocation of robots shall
be done by a human operator, only when:
A robot has to be changed.
A robot has fallen in such a way as to block the goal.
A goal is scored or a foul occurs.
Referee calls goal kick (Law 12) or free-ball (Law 13).
Law 10 : Free Kick (Appendix 4)
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 defending
robots shall be placed in touch with the goal area on either
side of the arc. With the referee's whistle all robots can
start moving freely.
Law 11 : Penalty-Kick (Appendix 5)
A penalty-kick will be called under the following situations.
Defending with more than one robot in a goal area (Law 8.4.).
Failure on the part of a goalkeeper to kick out the ball
from its goal area within 10 seconds (Law 8.6.).
When any one of the human members touches the robots without
the referee's permission, while the game is in progress (Law
8.8.).
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 (Appendix 6)
A goal kick will be called under the following situations.
When an attacking robot pushes the goalkeeper in its goal
area, the referee shall call goal kick as goalkeeper charging
(Law 8.2.).
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.).
When an opponent robot intentionally blocks the goalkeeper
in its goal area (Law 8.7.).
When the goalkeeper catches the ball with its appendages
(if any) in its own goal area.
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 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 (Appendix 7)
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
20cm 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.
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