ROBOCUPSG SOCCER INTRO LEAGUE 2021 - (ROBOCUP SINGAPORE TECHNICAL COMMITTEE) - ROBOCUP SINGAPORE ...
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RoboCupSG Soccer Intro League 2021
(RoboCup Singapore Technical Committee)
These are the official Soccer rules for RoboCup Singapore Open 2021. They are released by the
RoboCup Singapore Technical Committee (TC). The English version of these rules has priority over
any translations. Each team is responsible for verifying the latest version of the rules prior to
competition.
Preamble
The Soccer Intro League is an initiative recommended by the international RoboCupJunior Soccer
Technical Committee (TC) “to help newcomers experience the RoboCupJunior Soccer competition”.
As the RoboCup Singapore, the RoboCupSG Soccer Intro League is part of a broader initiative for us
to build a scaffold for individuals and teams to transition from less technically demanding
competitions to eventually being competitive in RCJ Soccer. To that end, we will be adapting and/or
adopting the following guidelines by the TC:
1. The Intro League should, to some extent, be based on the RCJ Soccer Rules
2. Only competitors who have not previously participated in an RCJ Soccer international
competition can take part in the Intro League.
3. For 2021, the Intro League will only focus on virtual challenge, which will not involve an
adversarial element, instead focusing on the core competencies involved in the game.
4. Powered elements (electronics, batteries etc.) will be limited to official LEGO and LEGO
compatible elements as listed within the rules.
5. The robot must fit in a cylinder of diameter 22.4cm and height 22.4cm.
1. Team
1.1 Regulations
1.1.1 A team should comprise of 1 to 3 members.
1.1.2 Robots cannot be shared between teams.
1.1.3 Teams with functionally identical robots, that is, robots with no, or purely aesthetic changes,
will be disqualified.
1.1.4 Each team member must have a technical role and contribution.
1.1.5 Each team must have a captain, who will be responsible for communication with the
referees and interaction with the robot and game elements including placement after
randomisation.
1.1.6 Other team members must ensure that they do not, physically or otherwise, interfere with
gameplay.
RoboCupSG Soccer Intro League 2021
1.2 Violations
1.2.1 Teams that do not abide by the rules will be disqualified.
1.2.2 There should be no Orange, Yellow, or Blue clothes or objects in the vicinity of the field
where they may interfere with the performance of the robot.
1.2.3 Teams must ensure that the surroundings are shown to the camera before the start of each
attempt.
1.2.4 Referees may request at any time, for teams to cover up any coloured objects which may
interfere with the game.
1.2.5 The robot must be self-contained, with no wired or wireless communications, such as
Bluetooth and WiFi, with anything external to itself.
2. Field
2.1 Dimensions
2.1.1 The field measures 120cm by 240cm along the outer boundaries.
2.1.2 A white border of at least 1cm lines the outer boundary.
2.1.3 A light green Starting Circle is centralised on the field and is of diameter 22.4cm.
2.1.4 A white ring surrounds the Starting Circle and is of diameter 44.8cm.
2.1.5 A dark green Playable Area surrounds the white ring and is of diameter 155.2cm.
2.1.6 A Penalty Ring surrounds the Playable Area and is of diameter 200cm.
2.1.7 14 black Mini Goals Areas are
a) spaced 10 degrees apart from each other,
b) tangential to the outer edge of the Penalty Ring,
c) with the 2 Central Mini Goal Areas centralised on a line bisecting the shorter edge of
the field,
d) each of length 128mm (16 LEGO Studs), depth 64mm (8 LEGO Studs) and height
29mm,
e) With the opening facing the Starting Circle
2.1.8 14 white Placement Points are centralised, each within a Mini Goal, and of diameter 44mm.
2.2 Material
2.2.1 The field should be printed on Tarpaulin, with water resistant paint
2.2.2 Eyelets may also be used to secure the field to a surface as long as they are located behind
the Mini Goals
2.2.3 Goals must be constructed with any combination of the following LEGO Bricks
a) Yellow Goal: 300324, 300124, 300924
b) Blue Goal: 300323, 300123, 300923
RoboCupSG Soccer Intro League 2021
2.3 Illustrations
Figure 1
RoboCupSG Soccer Intro League 20213. Robots
There will be no material limitations to the construction of robots. However, powered elements
(electronics, batteries etc.) will be limited to official LEGO and LEGO compatible elements.
Permissible powered elements are limited to:
Type Brand Part
Controller LEGO RCX
NXT
EV3
Spike Prime Hub
Motors LEGO RCX Motor
NXT Motor
All EV3 Motors
All Spike Prime Motors
Sensors LEGO All RCX Sensors
All NXT Sensors
All EV3 Sensors
HiTechnic All HiTechnic Sensors
MindSensors All MindSensors Sensors
Pixy All Pixy Cameras
- Any Webcam
Teams may request for additional components to be added to this list. However, as this is an Intro
League, only commercially available equipment accessible to all teams will be considered for
inclusion.
There is no limit to the number of powered elements, if they comply with all other rules, including
size constraints.
There is no software limitation. Teams may load alternative firmware on the controllers, utilising
any external storage media such as USB Drives and Micro SD Cards where needed.
The robot must fit in a cylinder of diameter 22.4cm and height 22.4cm
4. Gameplay
4.1 Starting Position
4.1.1 Each challenge run will begin with the robot located completely in the Starting Circle, with
any Ball Capturing Zones facing North, away from the Mini Goals.
a) Teams must show that this is the case to the best of their ability.
4.1.2 The program should then be run, with the robot remaining in a stationary
position, awaiting the bump of a touch sensor.
a) Teams must ensure that the program is shown running on the screen of the
controller (LEGO RCX/NXT/EV3) in view of the recording camera.
RoboCupSG Soccer Intro League 2021b) Once the program has been run, teams are not allowed to contact the robot in any
way, other than to bump the touch sensor. If the robot is contacted by accident, the
whole process must be repeated, with permission given at the discretion of the
referee.
c) A bump refers to the touch sensor sequentially going through the pressed, then the
released state
4.2 Randomisation
4.2.1 Randomisation will begin after the robot has been placed in the Starting
Position, and done with software chosen at the discretion of the organiser
during the competition.
4.2.2 The items to be randomised are:
a) Side
▪ Either East or West will be chosen to be the side for the Mini Goals
▪ The unchosen option will be the side for the Orange Ball
b) Position of 1 Orange Ball
▪ A number between 1 and 7 (inclusive) will be chosen
▪ The Orange Ball will be placed within the Placement Point corresponding to that
number, where 1 refers to the North-most point, and 7 refers to the South-most
point
c) Position of 1 Yellow Goal
▪ A number between 1 and 7 (inclusive) will be chosen
▪ The Yellow Goal will be placed within the Mini Goal Area corresponding to that
number, where 1 refers to the North-most point, and 7 refers to the South-most
point
d) Position of 1 Blue Goal
▪ A number between 1 and 7 (inclusive) will be chosen
▪ If the number chosen is already occupied by the Yellow Goal, draw again until
this is not the case
▪ The Blue Goal will be placed within the Placement Point corresponding to that
number, where 1 refers to the North-most point, and 7 refers to the South-most
point
4.2.3 Teams are to ensure that the items are placed within the appropriate areas
marked out on the field to render the randomisation phase complete.
4.3 Task
4.3.1 When the Randomisation is complete, the Referee will issue a countdown to start a
stopwatch
4.3.2 Once the stopwatch is started, teams may bump the touch sensors on their robot once to
signal that it may start moving to complete the task
RoboCupSG Soccer Intro League 2021a) Once the touch sensors have been bumped once, there should be no other human
interference (e.g. touching the robots) during the game
b) Violation of this rule will result in a disqualification of the attempt (no goal).
4.3.3 The objective of the robot is to:
a) Bring the ball from the randomised position to the Starting Circle, such that the entirety
of the ball is within the Light Green area
b) Kick the ball while it is fully within the Light Green area, such that a goal is scored.
4.4 Ball Movement
4.4.1 While performing the task, the robot cannot hold the ball
a) Holding the ball is defined as taking full control of the ball by removing all degrees of
freedom
b) Examples include fixing the ball to the body of the robot, and trapping the ball with any
part of the robot
4.4.2 The only exception to holding the ball is the use of a rotating drum, known as a Dribbler,
that imparts dynamic backspin on the ball to keep it on its surface
4.5 Scoring
4.5.1 A goal is scored when the ball touches the back wall of the goal
4.5.2 Upon scoring, the Stopwatch is stopped and the time taken is recorded as the score for the
attempt
4.5.3 If the robot does not manage to score within 3 minutes, the attempt is disqualified (no goal)
4.6 Lack of Progress
4.6.1 Lack of progress occurs if there is no relative translational movement between the ball and
the robot, or if the robot is not making an attempt to approach the stationary ball, for 3
seconds
4.6.2 One example of Lack of Progress is when the ball has exited the boundaries of the field
4.6.3 After a 3 second countdown from the referee, the ball is to be replaced at the original
randomised position
4.7 Out of Bounds
4.7.1 If a robot exits the field entirely, it is considered to be Out of Bounds
4.7.2 When this situation arises, a 15 second penalty is added to the clock, and all elements on the
field are reset to their original positions.
RoboCupSG Soccer Intro League 20215. Code of Conduct
5.1 Fair Play
5.1.1 RoboCupSG Soccer Intro League is built upon the foundation of fairness, respect and
friendship.
5.1.2 Mentors (teachers, parents, chaperones, translators, and other adult members) are not
allowed to be involved in the programming of students' robots or perform other assistance
work.
5.2 Sharing
5.2.1 Teams are encouraged to share their programming and strategies with members after the
competition.
5.2.2 Any developments may be published on the CoSpace Robot website after the event.
5.2.3 CoSpace Grand Prix sharing furthers the mission of RoboCupJunior as an educational
initiative.
5.3 Spirit
5.3.1 It is expected that all participants (students and mentors alike) will respect the RoboCup Asia
Pacific mission.
5.3.2 It is not whether you win or lose, but how much you learn that counts!
6. Conflict Resolution
6.1 Official
6.1.1 Official from RoboCup Singapore Technical and Organising Committee and train referees will
the judges for the challenge.
6.1.2 In any case, official will not stop the game unless any unforeseen situation appears. Official
will communicate with the team leader to explain the action taken in case any interruption is
carried out.
6.1.3 During the CoSpace Grand Prix, the officials’ decisions are final.
6.2 Rule Clarification
6.2.1 If necessary, a rule clarification may be made by an official from the CoSpace Technical
Committee and Organizing Committee, even during a tournament.
RoboCupSG Soccer Intro League 20217. Documentation
The following materials are required to be submitted as the qualification materials.
a) Hardware Designs
▪ In order of preference: CAD renders of different views, images
▪ Each stage of assembly should be showcased.
b) Software Designs
▪ Teams are to upload a flow chart for all algorithms utilised. This should be
accompanied by descriptions of the workings of each component of the algorithm.
c) Engineering Logbook
▪ Teams should keep a detailed log of their design process, including sketches and
notes, showcasing the iterative process taken to reach the final product.
▪ The engineering logbook will be used to verify that the work is done by the team.
d) Video Presentation
▪ Teams are to submit a video presentation of no longer than 10 min explaining the
hardware and software design, describing their design process, and showcasing the
most successful attempt at the challenge, including all software and hardware
features. Note that this attempt will not be scored and should be used to
demonstrate the capabilities of the robot as best as possible.
▪ The video presentation will be used to score for awards based on a set of rubrics.
8. Competition
a) Submission of qualification materials
▪ Teams are required to submit all materials listed in section 7 before the given
deadline.
b) Live online interview
c) Gameplay
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