RoboCupSoccer - Small Size

Small size league   kickoff
Rule book Rule book page
Call for participation
The Small Size league or F180 league as it is otherwise known, is one of the oldest RoboCup Soccer leagues. It focuses on the problem of intelligent multi-robot/agent cooperation and control in a highly dynamic environment with a hybrid centralized/distributed system.

A Small Size robot soccer game takes place between two teams of six robots each. Each robot must conform to the dimensions as specified in the F180 rules: the robot must fit within an 180 mm diameter circle and must be no higher than 15 cm. The robots play soccer with an orange golf ball on a green carpeted field that is 9 m long by 6 m wide.

All objects on the field are tracked by a standardized vision system that processes the data provided by four cameras that are attached to a camera bar located 4 m above the playing surface. The vision system - called SSL-Vision - is an open source project maintained by the league’s community.

Off-field computers for each team are used for the  processing required for coordination and control of the robots. Communications is wireless and uses dedicated commercial radio transmitter/receiver units.


Executive Committee Technical Committee Organizing Committee
Joydeep Biswas Masahide Ito Ersin Aytaç
Kazuhito Murakami Nicolai Ommer Christian Lobmeier
Flavio Tonidandel Carlos Quintero Ryan Strat

League Awards

Year Team Award Event
2016 MRL 1st Place RoboCup 2016
2016 CMDragons 2nd Place RoboCup 2016
2016 ZJUNlict 3rd Place RoboCup 2016


RoboCup 2016