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Law 1. The Field and the Ball (Appendix 1)
(a) Playground dimensions
A black (non-reflective) wooden rectangular playground 260(cm)
X 220(cm) in size with 30cm high and 2.5cm thick black side-walls
will be used. The topsides of the side-walls shall be black
in color. Solid 20cm X 20cm 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 more non-reflective
than that of a ping pong table.
(b) Markings on the playground
The field of play shall be marked as shown in Appendix 1.
The center-circle will have a radius of 60cm.
The side-walls, other than the sides where the goals are
located, will be painted with 5mm thick line markings colored
in white. The lines will begin at the middle points of the
walls 5cm from the top, and will be extended toward the two
bottom corners of the side-walls and away from each other.
And another line is painted between two bottom corners. So
the painted line looks like a triangle. See Appendix 1 for
details. The goal-side-walls where the goals are located,
will be painted with 5mm thick line markings colored in white.
These lines will begin from the goal-side-walls and away from
each other. See Appendix 1 for details. These line markings
will be used to locate the positions of the robots with respect
to the corners of the playground.
The arc, which is a part of the goal area, will be 40cm along
the goal line and 10cm perpendicular to it.
The major lines/arcs (centerline, goal area borderlines and
the center circle) will be white in color and 5mm in thick.
The free ball (Law 13) robot positions (circles) shall be
marked in gray color.
(c) The goal
The goal shall be 60cm wide. Posts (2cm thickness and 40cm
height), bars (2cm thickness and 64cm width) and nets shall
be provided at the goals. To distinguish and identify them,
the two goals, goal walls, posts, and bars shall be painted
in blue and yellow colors.
(d) The goal line and the goal area
The goal line is the line just in front of the goal which
is 60cm long.
The goal areas shall comprise of areas contained by the rectangle
(sized 90cm X 25cm in front of the goal) and the attached
arc (40cm in parallel to the goal line and 10cm perpendicular
to it).
(e) The ball
A yellow with light green tennis ball shall be used as the
ball, with 2.5in diameter and 60g 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 : The Players (Appendix 2)
(a) The overall system
A match shall be played by two teams, each consisting of
one to 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. The robots can be fully or semi-autonomous.
In the semi-autonomous case, a host computer can be used to
process the vision information from the cameras on-board the
robots.
(b) The robots
(1) The size of each robot shall be limited to 20cm X 20cm with
no limit on its height.
(2) A color patch, green, orange or red, as assigned by the
organizers, will identify the robots in a team. All the robots
must have a 5cm wide color strip of their team color patch,
green, orange or red, visible all around their body. The bottom
side of this color strip should be at a height of 7cm from the
surface of the playground. Holes less than 1cm in diameter are
allowed on the patch for the sensors including the camera. 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 team colors (green, orange or red), the robots
must not have any visible patches of those colors used by an
opponent team.
(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.
(4) Each robot must be fully independent, with powering and
motoring mechanisms self-contained. The robots shall be allowed
to communicate among themselves. If the two competing teams
opt for RF communication channels, two different frequencies
should be used.
(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 remote host computer (or a remote
controller (Law 3)).
(c) Substitutions
3 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 robot need to be fully autonomous system and a remote controller
should be used to start and stop the 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. To enhance the
above rule, the operator is not allowed to touch the remote
controller while the game is in progress and the controller
needs to be located on the table.
Law 4 : The Vision System (Appendix 2)
In order to autonomously identify the robots and the ball on
the playground, embedded vision systems shall be used on the
robots.
Law 5 : Game Duration
(a) 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.
(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 time if such a team is not ready to continue
the game, that team will be disqualified from the game.
Law 6 : Game Commencement
(a) Before the commencement of a game, either the team color
(#AAAAAA/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 team color (#AAAAAA/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 at the center
of 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 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:
(1) The goalkeeper catches the ball with its appendages (if
any) in the goal area.
(2) The ball comes out of goal area.
(3) Thirty 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 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. To enhance this rule, the robot
is not allowed to keep continues ball contact any longer than
5 seconds while it dribbles 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 : 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.a.). 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 10 : 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 11 : 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.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 12 : 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 30cm
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
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