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RoboCup Middle Size League
As one of the founding leagues of the international RoboCup initiative, the RoboCup Middle Size League (MSL) robot soccer competition has been organised from 1997 onwards.〔Asada, M., Veloso, M., Kraetzschmar, G. K., & Kitano, H. (1999). ''RoboCup: Today and Tomorrow.'' Experimental Robotics Six, 6, 369.〕 On an indoor soccer field, with goals of reduced size, teams of five fully autonomous soccer playing robots compete against one another. No human intervention is allowed during a match, except to take robots on or from the field. Although limitations with respect to maximum size and weight are in place, teams are completely free to design both hardware and software.
==Rulebook==
As much as possible, rules are the same as the laws of human football. An official FIFA approved ball is used in matches, and rules with respect to tackles and controlling the ball apply to robot soccer similar to their equivalent rules in human soccer. Modifications with respect to the FIFA rulebook are the field dimensions, which are reduced to 12 m by 18 m, and the number of players per team, which is five in RoboCup MSL.
Starting during RoboCup 2012 in Mexico-City, rules that stimulate multi-robot cooperation have been added to the rulebook. After gaining control over the ball at the own half of the field, a team has to make at least one mandatory pass before a valid goal can be scored.〔Soetens, R., van de Molengraft, R., & Cunha, B. (2015). ''RoboCup MSL-History, Accomplishments, Current Status and Challenges Ahead.'' In RoboCup 2014: Robot World Cup XVIII (pp. 624-635). Springer International Publishing. Available: http://wiki.robocup.org/images/6/6f/RoboCupMSL-History-Current-Status-and-Challenges-Ahead-RoboCupSymposium2014.pdf〕
抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』
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