WRO2016
Gamedescription,rulesandscoring
WROFootball
BrianThomas(Tommo):Australia.Queries:[email protected]
GameDescription
WROFootballaims,wherepossible,toreflectthegameofhumansoccer.Teamsoftwoontwoautonomousrobots
chaseaninfra-redtransmittingballaroundaWROsizetabletopfieldwiththeaimtokickmoregoalsthanthe
opposition.
Aims
Roboticsisawonderfulplatformforlearning21stcenturyskills.Solvingroboticchallengesbuildsinnovation,
creativityandproblemsolvingskillsinstudents,andbecauseroboticscrossmultiplecurriculumsubjects,students
mustlearnandapplytheirknowledgeinscience,engineering,math,andcomputerprogramming.Themost
rewardingpartofdesigningrobotsisthatstudentshavefun,worktogetherasateam,andlearningoccursas
naturallyasbreathingair.
GeneralWROFootballRules
Inlightoftheaboveaimsthefollowingruleswillbeenforcedwithoutquestion.
1. Robotsaretobebuiltandprogrammedexclusivelybythestudentparticipants.
2. Aswithhumanfootball,thereferee’sdecisionisfinal.Nogamescorewillbechangedonappeal,otherthan
anerrorinscoring.SeeSection7.
3. Studentsandmentorsmustconductthemselvesinamannerwhichendorsestheaboveaimsandassists
withthesmoothrunningofevents.
4. Itisnotwhetheryouwinorlose,buthowmuchyoulearnthatcounts.
RuleChanges
IfthecurrentWROFootballChallengeappearstobemastered,theruleswillundergominormodificationsthe
followingyear.Teamscannotexpecttousethesamerobots,programsoralgorithmsinconsecutiveyears.Thiswill
encouragenewteamstoenter,asteamsareallstartingagainfromabaseleveleachyear.Itwillalsoencourage
innovationfromstudentslookingtoadapttonewchallengeseachyear.
WROFootballFields
OrganisersunderstandthatWROFootballfieldsmayneedtovaryduetolocallimitationsinmaterialsand
equipment.Fielddimensionsarenotcriticaltostudentshavingaccesstothechallenge,aslongastheyare
consistent.InfactWROFootballcanbeplayedonamatrolledoutonaclassroomfloor!Theserulesintentionally
leaveflexibilityinfielddimensionsandfieldmaterials.TheWROWorldfinalswillusetheofficialfieldwithall
specificationsadheredto.Iflocalvariationsarerequired,allcompetitorsshouldbeinformedofchangeswellbefore
tournamentdates.
Contents
GameDescription....................................................................................................................................1
Aims…………………......................................................................................................................................1
GeneralRules……....................................................................................................................................1
RuleChanges.……....................................................................................................................................1
WROFootballFields................................................................................................................................1
Rules&Regulations...............................................................................................................................3
Teams……………………................................................................................................................................3
Scoring……………….....................................................................................................................................3
GameTime…………….................................................................................................................................3
GameRules……….....................................................................................................................................3
PlayReset………….....................................................................................................................................4
DamagedRobots…………………...................................................................................................................4
RuleClarification…………………...................................................................................................................4
RobotSpecifications................................................................................................................................5
Robotassembly.......................................................................................................................................5
RobotControl…..……….............................................................................................................................6
BallControl……..………..............................................................................................................................6
Goalies…………………...................................................................................................................................6
AuthenticationofStudentWork..............................................................................................................6
FinalsSelection……..……….......................................................................................................................6
TiedeliminationFinals………......................................................................................................................6
WROFootballField……………....................................................................................................................7
WROBallspecifications...........................................................................................................................8
CodeofConduct…...................................................................................................................................8
RulesandRegulations
1. Teams
1.1 Teamswillconsistoftworobots,eitheragoalieandaforward,ortwoforwardplayers.
1.2 Anysubstitutionofrobotsisstrictlyforbiddenandanyteamsubstitutingrobotswillbedisqualified
fromthetournament.
1.3 Teamswillhaveeithertwoorthreehumanparticipants.
2. Scoring
2.1 Agoalisscoredwhentheballstrikesthebackofthegoal.iewhenalloftheballcrossesthegoal
line.
2.2 Theteamscoringthemostgoalswillwinthegame.
2.3 Atiedscorewillstandinroundrobingames.
2.4 Apenaltygoalwillbeawardediftherefereeisconvincedthataballisclearlytravellingintothegoal
andstrikesadefensiverobotthathassomepartofitoverthegoallineandinthe"ingoal"area.
2.5 Owngoalsaretreatedasagoaltotheopposition.
3. GameTime
3.1 Gameswillconsistoftwo5minutehalves
3.2 Teamsareallowedtohaveamaximumbreakof5minutesbetweenhalvestorepairandreprogram
robots.
3.3 Thegameclockwillrunwithoutstoppingthroughoutthegame.
3.4 Therefereecancallatimeouttoexplainaruledecisionortoallowarobotdamagedbyhandlingor
byacollisiontoberepaired.SeeSection7:RuleClarification.
3.5 Itisateam’sresponsibilitytobepresentbeforeagamestarts.Ateamwillincuragoalpenaltyfor
everyminutethattheyarelate,upto5minutes.
3.6 Iftimepermits,finalsgamescanberunover10minutehalves.
4. GamePlay
4.1 Atthestartofthegametherefereewilltossacoin.Theteamwinningthetosscanchoosewhether
tokickoffatthestartofthefirsthalforthestartofthesecondhalf.
4.2 Theteamkickingoff,willkicktheballfromthecentrespotonthefield.
4.3 Allotherrobotsmusthavesomepartinsideoftheirdefensivepenaltybox.
4.4 Theteamkickingoffwillplacetheirrobotsfirst.Thesecannotbemovedoncetheteamhasplaced
them.Theteamkickingsecondcanthenplacetheirrobots.
4.5 Thegamewillstartonthereferee’scommand.Allrobotsmustbestartedimmediately.
4.6 Anyrobotsthatarestartedbeforetherefereescommandwillberemovedfromthefieldforone
minute.
4.7 Anyrobotsthatarenotonthefieldorstartedimmediately,willberuledas“damaged”and
removedfromthefieldforoneminute.
4.8 Ifagoalisscored,thenon-scoringteamwillkickofftorestartplay.
4.9 Iftwoopposingrobotsaretangledwitheachother,therefereecanchoosetoseparatethemwith
minimalmovement.
4.10Therefereewillcall"Pushing"immediatelywhenarobotisusinggreaterpowerto“force”theball
pasttheopposition.Therefereewillthenplacetheballinthecentreofthefieldandplaywill
continuewithoutstopping.
Ifarefereecalls“Pushing”andagoalisscoredasadirectresultofarobot“forcing”theballthrough,
thegoalwillbedisallowed.
4.11 TeamCaptainsarenotpermittedtotouchrobotsatanytimewithouttherefereespermission.Any
robotthatishandledwillbetreatedasadamagedrobot.
4.12 Ifaballstrikestheendwallbesidethegoals,playwillnotbestoppedandtheballwillbereturned
immediatelytothecentrespotonthefield.Ifarobotoccupiesthatspot,theballwillbeplacedas
closeaspossible,butnotdirectlyinfrontofarobot.
4.13 Ifbothdefendingrobotsareintheirdefensivepenaltyareaandareconsideredtobeaffectingthe
game,therefereewillcall“DoubleDefence”andmovetherobotwiththeleastinfluenceonthe
gametothecentreofthefield.Goaliesshouldnotbetherobotthatismovedinthissituation.
5. PlayReset
5.1“Reset”willbecallediftheballisstuckbetweenmultiplerobotsforareasonableamountoftime
andhasnochanceofbeingfreed,orifnorobothasanychanceofapproachingtheballinareasonable
amountoftime.A“reasonableamountoftime”isanytimeupto15seconds.
5.2Anystuckrobotswillbeimmediatelytakentotheirdefensivepenaltybox.Somepartoftherobot
mustbeinthepenaltybox.
5.3Robotsarepermittedtoremainrunningandheldbythehandle.
5.4Therefereewillrolltheballfromthewallmid-wayalongthelongsideofthefield,towardsthe
centreofthefield.
5.5Robotswillbereleasedonlywhentheballleavestherefereeshand.
5.6Anyrobotthatcannotstartimmediatelywillbeconsideredas“damaged”
5.7Anyrobotthatisreleasedbeforetheballisreleasedwillberemovedfromthefieldforoneminute.
6. DamagedRobots
6.1 Arobotwillbeconsidereddamagedbytherefereeifithasseriousbreakages,itdoesnotmove
correctly(eg.Rule12)orrespondtotheball.
6.2 Playerscanonlyremoverobotsfromthefieldafterbeinggiventherefereespermissionfollowing
theTeamCaptain’srequest.Thisrobotwillbeclassifiedasdamaged.
6.3 Adamagedrobotwillremainoffthefieldforoneminuteoruntilagoalisscored.
6.4 Adamagedrobotmustberepairedbeforeitisreturnedtothefield.Ifarobotisnotorcannotbe
repaired,itwillbeexcludedfromtheremainderofthegame.
6.5 Adamagedrobotcanbereturnedtofieldafterbeinggiventhereferee’spermission.Therobotisto
beplacedintheteam’sownpenaltyareaandnotinapositionthatadvantagesthatrobotie.Facing
theball.
6.6 Ifarobotturnsoveronitsownaccordorfromacollisionwithitsownteam’srobot,itwillbe
considereddamaged.
6.7 Ifarobotturnsoverasaresultofacollisionwithanopposingrobot,itwillnotbeconsideredas
damagedandcanberightedbytherefereeandplaywillcontinue.
7. RuleClarification
7.1 Thereferee’sdecisionisconsideredasfinalduringgameplay.
7.2 Ifcompetitorsrequirearuleclarificationtheymustdoitimmediatelybyrequestinga“Referees
TimeOut”.Thegameclockwillbestopped.
7.3 IftheTeamCaptainisnotsatisfiedwiththereferee’sexplanation,theycanrequesttospeaktothe
TournamentReferee.
7.4 Mentorsmustnotbeinvolvedinanyrulesdiscussion.
7.5 Videoevidencewillnotbeaccepted.
7.6 Oncethetournamentrefereeandthegamerefereehavecometoadecision,nomorediscussion
willbeaccepted.
7.7 AnyfurtherargumentwillresultinaYellowCardbeingissued,followedbyaRedCardiftheTeam
CaptainorMentorcontinuestoargue.
7.8 ARedCardwillresultinthatpersonbeingrequiredtoleavethecompetitionareafortheremainder
ofthetournament.
7.9 TheTournamentRefereemayberequiredtomodifyrulesasaresultoflocalconditionsor
circumstances.Participantswillbenotifiedofthisattheearliestavailableopportunity.
8. RobotSpecifications
8.1 ConstructionandProgrammingofrobotsmustbedoneexclusivelybythestudents.
8.2 RobotsaretobeconstructedusingstrictlyLEGObrandpiecesonly.
8.3 Thecontroller,motorsandsensorsusedtoassemblerobotsmustbefromLEGO®MINDSTORMSsets
andHiTechnic(OneHiTechnicIRSeekerV2sensor.OneHiTechnicColourSensorandOneHiTechnic
Compasssensor).
8.4 RobotscanonlyuseoneNXToroneEV3UltraSonicSensor.Thismustbeplacedontherearofthe
robotwiththesensorfacingtotheright.
8.5 RobotsmustonlysampleUltraSonicreadingswhentheyarefacingtowardstheirowngoal,orinthe
caseofagoaliewhenitsensorisaimedatthegoalitisdefending.Ifarobotisdeemedtobe
intentionallyinterferingwiththeUltraSonicreadingsofotherrobots,theUltrasonicSensorwillbe
disabled.
8.6 WROrecommendsuseofEducationversionsofLEGOMINDSTORMSduetoextendedservice
availablefromLEGOEducationdistributors
8.7 LEGOpiecescannotbemodifiedinanyway.
8.8 Nootherbuildingmaterialscanbeused,includingglue,tape,screwsetc.
8.9 AftermarketOmnidirectionalwheelsarenotpermitted
8.10 Cabletiesortapemaybeusedtosecurewires.
8.11 ControlprogramsmustbeLEGO®MINDSTORMS™EV3orLEGO®MINDSTORMS™NXTsoftware.
8.12 AnyCbasedprogrammingisnotpermitted.
8.13 Robotswillbemeasuredinafreestanding,uprightpositionandwithallpartsfullyextended.
8.14 Theuprightrobotmustfitinsideanupright22cmdiametercylinder.
8.15 Therobotheightmustbelessthan22cm.
8.16 Theweightofrobotsmustnotweighmorethan1kg. 8.17 Ifarobothasamovingpartthatextendsintwodirections,itwillneedtobeinspectedwiththis
partoperating.Therobotmustbeabletooperatewithouttouchingthemeasuringcylinder.
8.18 Robotsmusthaveahandleforrefereestoeasilypickthemup.Thehandlewillnotbeincludedin
aboveheightandweightmeasurements.HandlescanbemadefromnonLEGOcomponents
8.19 Competitorsmustmarkordecoratetheirrobotstoidentifythemasbelongingtothesameteam.
Thesemustnotinfluencegameplayandwillnotbeconsideredintheheightrestrictions.
8.20 Colorsofrobotsorlighttransmittersmustnotinterferewithsensorreadingsofotherrobots.
9. RobotAssembly
9.1 WROrulesrequirethatallrobotsareassembledduringtheassignedassemblytimeonthedayof
thecompetition.
9.2 Allthepartsfortherobotshouldbedisassembledandintheirinitialstate(notpre-built)whenthe
“assemble”timestarts.Forexample,atyrecannotbeputonawheeluntilassemblytimebegins.
9.3 Competitorsmaynotuseanyinstructionsheets/guideswhetherwritten,illustratedorpictorialno
matterwhatformattheyarein(includingpaper-basedanddigital).
9.4 Contestantsmaymaketheprogrambeforehand.
9.5 Robotscanbemodifiedduring“venueopen”orcompetitiontimes.iethereisnoquarantinebefore
orbetweengames.
9.6 Itisthecompetitor’sresponsibilitytoensurethatarobotislegalatalltimes.Ifarobotisdeemed
illegalafteragame,thatteamwillforfeitanypointsgained,wheretheycompetedwithanillegal
robot
9.7 Robotsmustbeplacedinquarantineovernightandnotleavethecompetitionareaatanytime
untiltheyhavefinishedcompeting.
9.8 Robotsshouldbedesignedtocopewithfieldimperfectionsofupto5mmonthesurfaceaswellas
theincline.
9.9 Teamsshoulddesignandprogramtheirrobotstocopewithvariationsinlighting,ballintensityand
magneticconditions,asthesevaryfromvenuetovenue,andwithtime.
10.
RobotControl
10.1Robotsmustbecontrolledautonomously.
10.2Robotsmustbeabletobestartedmanually.
10.3Theuseofremotecontrolanykindisnotallowed.
10.4Robotsmustbeabletomoveinalldirections.
10.5BlueToothcommunicationbetweenrobotsisacceptableaslongasitdoesnotinterferewiththe
performanceofotherrobots.
10.6Robotsmusthavetheabilitytohavetheircommunicationdisabledattherequestofthereferee.
11.
BallControl
11.1BallCapturingZonesaredefinedasanyinternalspacecreatedwhenastraightedgeisplacedon
anyoftheprotrudingpointsofarobot.
11.2TheballcannotpenetratetheBallCapturingZonebymorethan2cm.
11.3Arobotcannot"hold"aball.Holdingaballmeansremovinganyoftheballsdegreesoffreedom.
Forexample,thiscouldmeanfixingaballtotherobot,surroundingaballusingtherobotorsomehow
trappingtheballwithanypartoftherobotbody.Ifaballstopsrollingwhilearobotismoving,oraball
doesnotreboundwhenrolledintoarobot,itisagoodindicationthattheballis“held”andisillegal.
11.4Theballcannotbeheldunderneatharobotienopartofarobotcanprotrudeovermorethanhalf
oftheball’sdiameter.
12. Goalies
12.1Ifagoalieisused,itcannotlimititsmovementtoasingledirectiononthefield.Itmustbe
programmedtomoveinalldirections.
12.2Thegoaliemustrespondtotheballinaforwarddirectioninanattempttointercepttheballahead
ofthegoal.Ifrequired,itsmovementshouldbeabletotakesomepartoftherobotoutsideofthe
penaltybox(45cmfromgoal).
12.3Thegoaliecannotrespondsidewaysandfollowedbyaforwardmovement.
12.4Failuretorespondtotheballwithforwardmovementdownthefieldwillresultintherobotbeing
classifiedas"Damaged."(Section6)
13. AuthenticationofStudentWork
13.1Studentswillbeinterviewedtoexplaintheoperationoftheirrobotsinordertoverifythatthe
constructionandtheprogrammingoftherobotistheirownwork.
13.2Studentswillbeaskedquestionsabouttheirpreparationefforts.
13.3Proofofafullunderstandingoftheprogrammustbeshown.
13.4Itisexpectedthattournamentorganizerswillconductverificationinterviewspriortothefinalsof
allevents.
13.5Ifthepanelrulesthatthereisexcessivementorassistanceortheworkontherobotsisnot
substantiallytheoriginalworkbythestudents,thentheteamwillbedisqualifiedfromthetournament.
14. FinalsSelection
14.1DuringRoundRobinplay,teamswillbeallocatedthreepointsforawin,onepointforatieand0
pointsforaloss.
14.2Teamswillbeselectedforfinalsonthefollowingcriteria:
• Pointsscored
• GoalsScored
• GoalDifference
• Thewinningteamifthetwotiedteamscompetedagainsteachother.
• Thestrongestopposition,indicatedbythehighestrankedteamsintheirgroup.
15. TiedEliminationFinals
15.1 Ifthescoresaretiedinaneliminationfinal,thegamewillnotstopandplaywillcontinueuntila
“goldengoal”isscored.
15.2 Ifagoalisnotscoredafter3minutesofextratime,thegoalieswillberemoved,orinthecaseof
twoforwardplayers,theteamcanselectwhichrobotisremoved.
15.3 Ifagoalisnotscoredafteranother3minutes,thehigherqualifyingteamwillbeawardedthegame.
16. WROFootballField
16.1 TheOfficialWROFootballplayingfieldis1830mmby2430mm.Localorganisersmaychooseto
usea1143mmby2362mmRegularLeagueTableoranysizevariationbetweenthetwo.
16.2 Theofficialfloorwillbegreencarpet.Therecommendedcarpetis3-5mmthickdarkgreenoutdoor
orindustrialcarpet.Carpetfibersshouldbelessthan10mm.Thecarpetshouldshowareadingof3
orabovewhenusingtheEV3ColorSensorinReflectedLightintensityMode.
16.3 Thecarpetwillbemarkedwithpenaltyboxesmarkedwith2.5cmblacklineswiththeinsideofthe
linestartingattheinsideofthegoalpost.Thepenaltyboxlinewillstartatthefrontofthegoalposts
16.4 A2.5cmradiuscircularbackspotwillbepaintedinthecenterofthefield.SeetheAppendixfor
fieldmarkingsuggestions.
16.5 Ifappropriatecarpetisnotavailable,localorganiserscanchoosetouseplasticorvinylmats.
1143-
1830
2362-2430
16.6 Thefieldshouldbeplacedonawoodenorplastictableoronthefloor.Magneticconditionsneed
tobecheckedifthefieldisonthefloororifthetablehasmetalsupports.
16.7 Forwiderfields,eventorganisersmayelecttouse30cmX~1cminclinesfromGENIIFieldsalong
thesidewalls,iftheyconsiderthiswillimprovegameplay.Theaimofinclinesisthattheballwillroll
fromthetopoftheinclinetothecentreofthefield.Theheightofinclinesmayvarywithfield
surfacecomposition.InclineswillbeusedinWROWorldTournaments.
16.8 Eventorganisersmustinformcompetitorsofanylocalvariationstothefieldsizesand
specificationspriortotheevent.
16.9 Matteblackwallsareplacedallaroundthefield,includingbehindthegoals.
16.10 Thewallsmustbeatleast10cmhighabovetheplayingsurface.
16.11 Thewallsandgoalsmustbeconstructedofatleast5mmplywoodorpineastheyneedto
withstandrobotcollisionsandreflectultra-sonicsignalseffectively.
16.12 Thewidthofeachgoalis45cm.
16.13 Thebackandsidesofthegoalinteriorarepaintedskyblue.R:80G:200B:250Thefloorisdark
greencarpet.Theexternalsidesofthegoalsarepaintedmatteblack.
16.14 Theofficialdepthofeachgoalis7.5cm.withthebackofthegoalinlinewiththeendoffield.
Localorganisersmaychoosetoplacethebackofapre-constructedgoalagainsttheendofthefield.
16.15 Dependingongoalconstruction,thegoalmayextend7.5cm–8cmintotheplayingarea,toallow
forthethicknessofthebackwallofthegoal.
16.16 Eachgoalwillhaveablackcrossbarwiththetop14cmabovetheplayingsurface.
16.17 Teamsmustcomepreparedtocalibratetheirrobotsbasedonthelightingandmagnetic
conditionsatthevenue.OrganizerswillattempttokeepIRlightlevelsaslowaspossibleandlocate
soccerfieldsawayfrommagneticfieldssuchasunderfloorwiringandmetallicobjects.However
sometimesthiscannotbeavoided.
17. WROBall
15.1Awell-balancedelectronicballdiameter7.4cmshallbeused.
15.2TheHitechnicInfraredElectronicBall(IRB1005)inMODED(pulsed)willbeusedinofficialWRO
tournaments.
18. CodeofConduct
18.1 Coachesarenotallowedtoenterthecompetitionareatoprovideanyinstructionsandguidance
duringthecompetition.Teamcomputersmustremaininthecompetitionareawhilethe
tournamentisrunning.
18.2 Interferencewithcompetitiontables,materialsorrobotsofotherteamscouldresultinateam’s
disqualification.
18.3 Teamswillnotusedangerousitemsorbehavioursthatmaycreateorcauseinterferencewiththe
competition.
18.4 Inappropriatewords,booingand/orbehaviourtowardsotherteammembers,otherteams,
audience,judgesorstaffwillnotbetolerated.YellowandRedCardsmaybeissuedinthese
circumstances.
18.5 Bringingcellular/mobilephoneoramediumofwire/wirelesscommunicationinto
thedesignatedcompetitionareaisnotallowedandwillresultinaYellowandthenaRedCardifitis
repeated.
18.6 AnysituationwhichjudgesmightconsiderasinterferenceorviolationofthespiritoftheWRO
missionwillnotbetolerated.
18.7 Itisexpectedthatallparticipants,StudentsandMentorsalike,willrespecttheWROmission.
18.8 Therefereesandofficialswillactwithinthespiritoftheevent.
18.9 Itisnotwhetheryouwinorlose,buthowmuchyoulearnthatcounts.