Soccer Simulation

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On Site Information

Sunday, July 1st

Teamleader meeting at 19.00

Tuesday, July 3rd


The first game of 2D competition will be started at 11.30.


The results of GroupA and GroupB

Wednesday, July 4th


The results of GroupC and GroupD


6:30 pm: technical committee elections!

Thursday, July 5th


GroupE, Start time: 10:00

Teams can upload their binary until 9:45.

Detailed Schedule

The results of GroupE

Friday, July 6th


GroupF, Start time: 10:00

Teams can upload their binary until 9:45.

Detailed Schedule

The results of GroupF

Saturday, July 7th


Elimination Rounds, Start time: 10:00

Teams can upload their binary until 9:45.

Detailed Schedule

The results of Elimination Rounds

Sunday, July 8th

  • Places Match, Start time: 10:00
  • Final Match, Start time: 13:00

Teams can upload their binary until 9:45.

Detailed Schedule

The results of Places Match

The result of Final Match

Server Changes

Download and untar in the rcssserver3d-0.5.6 top level directory.

Organizing Committee

Jan Murray, Chair, murray at
Hidehisa Akiyama, hidehisa.akiyama at
Sahar Asadi, asadi at
Qin Xiao, ginx.thu at
Peter Stone, Local, pstone at

Qualified Teams

A list of qualified teams can be found at


Please upload a pdf describing the current rules, and point to the pdf from here.



File:Rules 2d.20070617.pdf

Sample Scripts

You need 9 files (start, start1, start2, start3, start4, kill1, kill2, kill3 and kill4)

  • start
#! /bin/sh

ssh $3 -f "$1/start1 $2"
sleep 4
ssh $4 -f "$1/start2 $2"
sleep 1
ssh $5 -f "$1/start3 $2"
sleep 1
ssh $6 -f "$1/start4 $2"

This is your top level start script. Usually, there should be no need to change it for your team (Sleep time might need to be changed). It will be called by the Soccer Server with six command line parameters:

  • start[1-4]

Below are sample scripts starting a team on 4 machines. Please use absolute file names and make them group executable. Please also remember that your team is started by a different user, so don't use variables like $HOME, or ~/ in your paths.

start1 start2
#! /bin/sh



${player} --host ${host} --goalie &

sleep 3

${player} --host ${host} &
${player} --host ${host} &

#! /bin/sh



${player} --host ${host} &
${player} --host ${host} &
${player} --host ${host} &

start3 start4
#! /bin/sh



${player} --host ${host} &
${player} --host ${host} &
${player} --host ${host} &

#! /bin/sh



${player} --host ${host} &
${player} --host ${host} &

sleep 2

${coach} --host ${host} &
  • kill[1-4]

Sample kill scripts (don't use path names here). Please make them group executable and double check that they kill all of your programs

kill1 kill2
#! /bin/sh

killall ${player} 
killall -KILL ${player}

#! /bin/sh

killall ${player} 
killall -KILL ${player}

kill3 kill4
#! /bin/sh

killall ${player} 
killall -KILL ${player}

#! /bin/sh

killall ${player}
killall ${coach}
killall -KILL ${player}
killall -KILL ${coach}

Results and Logfiles

The results can be found on the results page. Visitors and remote teams can download the logfiles from .

The 2D team binaries are also available at .

RoboCup participants that are in Atlanta can get the logs from /home/Log2D/ on the competition machines.

3D Development

Resources (poster header etc)


Please note that this is still work in progress

Tournament Structure

The tournament consists of two preliminary rounds (round robin) and a single elimination round.

Round 1
  • 6 groups of 5 teams each
  • best 4 of each group advance

Round 2
  • 4 groups of 6 teams
  • best 4 of each group advance

Single Elimination
  • The winner of a match advances to the next round.
  • The losers of the semi finals play for 3rd place.


Revised Schedule

July, 2nd-4th
team setup and testing
July 5th
Round 2
Groups A-B
July 6th
Round 2
Groups C-D
July 7th
Elimination rounds
Round of 16
Quarter finals
Semi finals
July 8th
Match for 3rd place

Results and Logfiles

The results can be found on the results page. Visitors and remote teams can download the tarballs with the logfiles from .

RoboCup participants that are in Atlanta can get the logs from /home/3d/logs/LOGFILES/ on the competition machines.

Due to the necessity of manual restarts after server failures, several consecutive logs may belong to the same match,
e.g. four consecutive logs named foo-vs-bar-<TIMESTAMP> make up a game that had to be interrupted (and thus restarted) three times.
A single team1-vs-team2-<TIMESTAMP> contains a match that ran without any interruptions.

Qualification Procedures and Dates


The pre-registration for RoboCup 2007 is open from Dec 13 - Dec 29, 2006.

Please fill in the form at "" to register your team.

Keep in mind, that the pre-registration is mandatory. If you do not register, the organizing committee will not accept any qualification material from your team.


General Rules

The qualification process for the competitions in the RoboCup Soccer Simulation League is subject to a number of rules. Based on these rules the organizing committee (OC) selects the teams that qualify for the event from all teams that submitted qualification material.

Most of these rules are specific to the individual competitions that are to be held, but some more general policies apply to all competitions.

The so called One-Third-Rule rule states that only 1/3 of the participants of a competition may be from the same country.

The One-Team-Per-Institute-Rule states that only one team from each university or research institute is allowed to participate in a competition. Note that it is okay for different teams from the same institute to participate in different competitions, e.g. 2D soccer and 3D development.


16 teams will take part in RocoCup 2007. If your team was among the top 3 of RoboCup 2006, you pre-registered and submitted the appropriate qualifiaction material, you are qualified. The other 13 teams will be decided according to the SSIL results and the quality of the team description paper(TDP). If your team was not among the top 3, you have to have a team running in the SSIL and submit the qualification material.

Qualification material:

  1. A team description paper(TDP). The TDP should describe your research focus and ideas implemented in the team. The length of the TDP has to be at least four (4) pages and should not exceed twelve (12) pages in Springer LNCS Style. Please submit the TDP as a PDF or Postscript document.
  2. A list of contributions to previous RoboCup Symposium. Please do not include TDPs that you submitted to RoboCup in previous years. You may include a TDP, if you presented a talk about your team at the Symposium.


  1. All pre-registered teams have to submit the qualification material.
  2. Top 3 teams in RC2006 will be qualified if they submit an appropriate TDP(*).
  3. All other teams have to participate in the SSIL. 13 teams will be selected according to the SSIL standings and the quality of TDP.
    1. Limitation
      1. The number of teams per country is limited to approximately 1/3 of the total number of teams (i.e. 5 for 2D).
      2. Only one team is allowed to participate from the same institution.
    2. Top 8 teams in SSIL will be qualified if they submit an appropriate TDP(**). If there are two 8th-place teams or more, one team will be selected by the quality of TDP and contribution to RoboCup Symposium.
    3. Other 5 teams will be selected by the quality of TDP and contributions to RoboCup Symposium.
(*) If they did not submit the TDP or the quality of their TDP is too bad, they will be required to rewrite their TDP. In this case, if the rewritten TDP cannot be accepted, that team will be disqualified and the number of teams selected by SSIL will be increased.
(**)If the quality of their TDP is too bad, they will be required to rewrite their TDP. In this case, if the rewritten TDP cannot be accepted, that team will be disqualified and the next team in standings will be selected.

Material may be submitted via
Qualification deadline: March 10th, 23:59 PST.


The SSIL is the Soccer Simulation Internet League. Pre-registered teams can upload their binaries to a server on which games will be played automatically. The RCSSServer version 10.0.7 will be used. It is not possible to change your team after the SSIL starts.

Start of SSIL
March 12th, 2007
You have to finish everything by the deadline.
  • get an account for SSIL by February 20th, 2007, 23:59 PST.
  • upload your binaries and set up the team
  • test your team by yourself
  • send an email to the staff
  • receive the test result from the staff by March 10th, 2007, 23:59 PST
Keep in mind: Your team has to be running by March 10th!
Soccer Simulator Version
  • RCSSServer 10.0.7
  • RCSSBase 10.0.11
  • The player.conf and server.conf of rcssserver-10.0.7 are used for SSIL.
Machine Specs and OS
There are 4 machines, all using SuSE 9.2. Participants can login to only.
This machine is used for login and testing by the teams only. No matches will be run on ssil. Login via ssh using the account and password you received.
RAM: 512 MB
Soccer Server Machine:
RAM: 448 MB
Machine for each Team:
CPU: P4 2.4 GHz
Getting an Account for SSIL
Account application form is closed.
Upload and Set Up of Teams
Please upload your team using scp to, place a start script (called "start") in your home directory (into the top level, e.g. /home/robolog/start).
You can place a file named 'synch_mode' in your home directory (it doesn't matter what it contains), to indicate that your team wishes to use synch_mode. If both teams have a 'synch_mode' file then the server may be run with synch_mode on.
The start script ("start") when started with exactly 2 arguments needs to start your entire team on a remote machine and kill it on sigint (the server will send this to the start script when the server exits).
The first parameter for the start script should be the name of the machine where your team will be started on, and the second one the name of the server machine.
Below is an example of how to do this. The start script should ssh to the team machine and start the players there. The scripts should be made executable for yourself. Scripts and your home directory should not be readable and executable by yourself.
Please use either only absolute paths or cd to the directory in each ssh command in your script.
An example start script is at the end of the section. PLEASE change it according to the requirements of your team. You should know best how your team has to be started :-)
Test your team
Please run your start script without the server in order to check whether your libraries, binaries and configure files are in the right places.
If you see that your binaries start and try to connect the server, and then shutdown (exit or logout), your test is finished. If you get an error message which is not because of server, please check whether your libraries, binaries and configure files are in the right places. And then please test again.
When your team is working, please send an email to <hidehisa.akiyama at> (and Cc to <murray at>) with the subject "SSIL: <team-name> ready".
Receive the test result by the staff
After you send an email to the staff, the staff tests your team with the server . The staff lets you know the result. If your team isn't working; you can fix it, and ask for a new test, etc. Please be aware that the deadline (Mar. 10) is not affected by this.
**NOTE** March 10th, 2007, 23:59 PST is a hard deadline. If a team is not working by the end of 03/10, they will be disqualified. So please set up and test your team as early as possible, especially if you are new to SSIL or think you need help in setting everything up.
The example start script




trap kill_team INT

    echo "Killing Team"
    ssh ${machine} killall -KILL `basename ${goalie}`
    ssh ${machine} killall -KILL `basename ${prog}`
    ssh ${machine} killall -KILL `basename ${coach}`
    exit 0


ssh -f ${machine} "${goalie} --host ${host} --team ${team} --goalie"

sleep 2

for (( i=2 ; i<12 ; i=$i+1 )) ; do
  ssh -f ${machine} "${prog} --host ${host} --team ${team}"

sleep 1

ssh -f ${machine} "${coach} --host ${host} --team ${team}"


3D Development

We will have a 3D development competition again with up to 16 teams presenting their improvements of the 3D simulation. The competition will have three focus topics in 2007, which are given below together with some suggestions for each

Humanoid robot models + controllers for Simspark
This may include models of existing humanoid robots like ASIMO, QRIO, etc, but also models of human soccer players or humanoid robot models that you think are suited particularly well for playing soccer. Of course there should be at least a very simple controller that allows to steer the humanoids in the simulation.
Advanced Visualization for Simspark
The current monitor for the humanoid simulator is very simple and therefore has lots of room for improvements. For example, an "intelligent" autocam mode is needed for the monitor. However, the visualization should stick to the morphology of the simulated robots, i.e. if a humanoid is simulated, this should be shown on the monitor, but if the simulation deals with spheres, the monitor should also show spheres.
Humanoid Simulators, i.e. improvements for Simspark or new simulators
This category is about improvements of the existing simulator and add-ons for the simulation, e.g. penalty kicking or a referee assigning yellow and red cards.

Qualification procedure

For the qualification the following materials have to be submitted:

  1. A team description paper (TDP) in PDF or Postscript format describing your team's ideas.
  2. A list of Symposium contributions.
  3. A running version of your source code.

This does not have to be the final version of your code, but it has to compile and run and implement a significant part of the features described in your TDP. Teams will be qualified based on the submitted materials. Also the general qualificiation limitations (1/3-rule, 1 team per instititute, s.a.) apply.


Materials may be submitted via
Qualification deadline: March 10th, 23:59 PST.



This year the 3D soccer simulation is subject to major changes. As you all know, this year's competition will feature a new simulator and also a humanoid simulation. The generalization of the simple 2D league by exchanging spheres for circles lies in the past. Although the early 3D simulation had its merits and was a step in the right direction (hey, we were using a real ball), it is time to take a big step forward.

Because of this change both the competitions and the qualification process look different from what you are used to from the last RoboCup events.


Technical Challenges
There will be a number of technical challenges similar to those in the humanoid league. The purpose of the challenges is to advance the development of low level skills in order to get to a level where teams can concentrate on the high level behaviors, quickly.
The challenges may include walking, kicking, getting up, penalty, etc.
5-vs-5 Soccer Matches
The second competition in 3D consists of a tournament of 5-vs-5 humanoid matches. As this is a complex task in itself, the soccer rules will be relaxed this year, meaning that humanoids will be allowed to handle the ball with any bodypart including their arms. They may also move by walking, running, jumping, crawling, etc.


As the competitions will be very different from matches we had in previous years, the OC decided not to qualify the top teams from Bremen automatically. As the simulator is still in a very early state of development, and because of the limited time we have for qualification, we will have a two step qualification this year. We will also focus on the research aspect of RoboCup for qualification.

In the first qualification step 32 teams are pre-qualified based on RoboCup related scientific and community work (i.e. publications, talks, server patches, etc) and a short research proposal. Additionally teams have to submit a simple humanoid agent in order to show some skills with the new simulation. Please use the soccerbot model for this. A certain percentage of the pre-qualified teams will consist of newcomers that did not participate in RoboCup so far. The general qualification rules (s.a.) are applied in stage 1.

ATTENTION: Rules changed

The 32 selected teams are qualified for the technical challenges in Atlanta. These challenges will be held before the 5 vs 5 matches.
The top 24 teams in the technical challenges qualify for the 5 vs 5 competition.(NEW)

Qualification Material
  • Stage 1
  1. List of RoboCup related publications (not restricted to RoboCup Symposia)
  2. List of previous results
  3. List of Work for the simulation community (Simulator work, committees, etc)
  4. Research proposal (3-4 Pages in Springer LNCS style)
  5. simple binary showing humanoid agent movement
    • one page description of the agent

Please submit all documents in PDF or Postscript format.

  • Stage 2

This stage will be dropped.(NEW)

Qualification deadline was March 10th, 23:59 PST.
Submission of materials is closed.

Submission at a glance

The following information is valid for all competitions. For competition specific information take a look at the respective sections.

Submission form
March 10, 2007 23:59 PST

Important Dates

Dec 13, 2006 Start of pre-registration

Dec 29, 2006 End of pre-registration

Feb 20, 2007, 23:59 PST SSIL account application deadline (2D only!)

Mar 10, 2007, 23:59 PST Qualification deadline

What to Expect in Atlanta

This section should include information about what the participants should expect at the event. In particular, items like what kind of machines will be availalbe, which OSs, etc.

General Information

Internet Access

Teams cannot use wired internet access at the competition site.

The building has wireless internet access via FASTPASS. This wireless network system is NOT free. If you need an internet access, you must purchase an account to use FASTPASS.

The 3D network will have (limited) internet access. You may not use any of those machines during the matches, but you can use them for internet access before and after the matches. If you are in doubt, whether you may use the PCs or not, don't! (or ask an OC member)



Every team will be allowed to use four machines for their games. Teams cannot use these machines to hack their programs, but two machines will be available for the test.

  • Hardware Specification
    • CPU: Pentium4 2.8 GHz
    • Memory: 1 GB
    • CDRW/DVD
Operating System

CentOS 5.0( will be used.

Soccer Simulator
  • rcssbase-11.1.0
  • rcssserver-11.1.0
Team Network

The wired small LAN will be provided for 2D teams. This network is not connected to the internet, but you can upload your programs to the competition machine without any charge.

However, we have no ethernet cables for teams. Please bring your (long) ethernet cable if you need to use this network.

The number of port is also insufficient. Each team is allowed to use only one port. If your team needs more than one port, please bring your switching hub to increase the number of port.



Each team will be allowed to use one machine for their games. Teams cannot use these machines to hack their programs, but machines will be available for testing before and after the matches.

  • Hardware Specification
    • CPU: Pentium4 2.8 GHz
    • Memory: 1 GB
    • CDRW/DVD
Operating System

The PCs will be running SuSE Linux 10.1 with current security patches applied.



Until version 0.5.6 is released, the current CVS contains the official version of the simulator.

League Requirements

This section should include a comprehensive list of items the OC expects RoboCup 2007 to provide. It is very important that this list be complete.

This page is owned by Jan Murray.

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