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Law
1 The Field and Ball
(a) Playground dimensions
A black (non-reflective) wooden rectangular playground 130(cm)
X 90(cm) in size with 5(cm) high and 2.5(cm) thick white side-walls
will be used. The topsides of the side-walls shall be black
in color (top view) with the walls painted in white (side view).
Solid 7(cm) X 7(cm) 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 12.5(cm).
The arc, which is part of the goal area, will be 20(cm) along
the goal line and 5(cm) perpendicular to it.
The major lines/arcs (centerline, goal area borderlines and
the center circle) will be white in color and 3(mm) in thick.
The free ball (Law 13) robot positions (circles) shall be marked
in gray color.
(c) The Goal
The goal shall be 25(cm) 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
25(cm) long.
The goal areas shall comprise of areas contained by the rectangle
(sized 50(cm) X 12.5(cm) in front of the goal) and the attached
arc (20(cm) in parallel to the goal line and 5(cm) perpendicular
to it).
(e) The Ball
An orange ping pong ball shall be used as the ball, with 37.5(mm)
diameter and 2(g) weight.
(f) The Field 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: Players
(a) Overall System (Appendix 2)
A match shall be played by two teams, each consisting of five
robots. One of the robots can be the goalkeeper (Law 2.b.2).
Three (3) 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 4(cm) X 4(cm) X 5.5(cm).
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 1.5(cm) X 1.5(cm) 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
patched of those colors used by and opponent team.
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
Substitutions shall be permitted during game breaks. 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. At half time, unlimited substitutions can be made.
(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 2)
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 2(m) or higher.
Law
5: Duration of the Game
(a) The duration of the game shall be two equal periods of 5
minutes each with a half time interval for 10 minutes. An official
timekeeper will stop the clock, during the substitutions, while
transporting the injured robots from the field, during time-out
and during such situations that deem to be right as per the
discretion of the timekeeper.
(b) 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 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: The Start of the play
(a) 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.
(b) 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.
(c) 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.b.
(d) 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 sudden death scheme. The game will be continued
after a 5 minutes break, for a maximum period of 2 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:
(a) 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.
(b) 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.
(c) 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.
(d) 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 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.
(e) 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.
(f) 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.
(g) Giving a goal kick to the team of the goalkeeper will
penalize the intentional blocking of a goalkeeper in its goal
area.
(h) 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: Interruption of Play
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.a.).
The ball will be placed at the relevant free kick position
(FK) on the playground (Appendix 1). Attacking robots will
be allowed within the side where free kick is being called.
Two defending robots shall be placed in touch with the goal
area on either side of the arc. All the other robots of the
defending team shall be placed behind the half line. 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.d.).
Failure on the part of a goalkeeper to kick out the ball from
its goal area within 10 seconds (Law 8.f.).
When any one of the human members touches the robots without
the referee's permission, while the game is in progress (Law
8.h.).
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 kicks as goalkeeper charging
(Law 8.b.).
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.c.).
When an opponent robot intentionally blocks the goalkeeper
in its goal area (Law 8.g.).
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.c. 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
15(cm) 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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