1. Computer Science Department
FIRA vs. RoboCup
CS492a Lecture Note
by Rhee, Taik-heon
Computer Science Department
KAIST

2. Index Introduction FIRA & Robocup Discussion Issues Summary History
Category
Discussion Issues
Summary

3. Introduction 4th FIRA Robot Soccer World Cup
Notre Dame school, Campinas, Brazil (Aug 4-8, 1999)
MiroSot
1st : RobotIS (Korea)
2nd : SIOR (Korea)
3rd : SOTY IV (Korea)
NaroSot
2nd : Y2K2 (Korea)
3rd : Olympus (Korea)

4. Introduction RoboCup-99 Stockholm
Stockholm City Conference Center, Stockholm, Sweden (Jul.27 - Aug. 6, 1999)
Conjunction with IJCAI-99
Simulation League
1st : CMUnited-99 (USA)
Small Size League
1st : The Big Red (USA)
Middle Size League
1st : CS Sharif (Iran)
Sony Legged Robot League
1st : Les 3 Mousquetaries (France)

5. FIRA & RoboCup
History
Category

6. History FIRA 1995 - Idea of Robot Soccer Pre-meeting on MiroSot
Prof. Jong-Hwan Kim (KAIST)
Micro-Robot World Cup Soccer Tournament (MiroSot)
Int. Orignizing Committee for MiroSot (Sep., 1995)
Pre-meeting on MiroSot
Jul Aug. 4, 1996, KAIST
30 teams from 13 countries
Clear shape of MiroSot Rule

7. 1st MiroSot FIRA history Nov. 9 - 12, 1996, KAIST
23 teams for 10 countries
MiroSot
Newton Research Lab. (USA)
Single-MiroSot (S-MiroSot)
Carnegie Mellon United Team (USA)
Formulation of Soccer Robot

8. 2nd MiroSot FIRA history Jun. 1 - 5, 1997, KAIST
22 teams for 9 countries
MiroSot
Newton Research Lab. (USA)
OverDrive (MR, KAIST)
S-MiroSot
UFO (MaroTech, Korea)
MIRAGE (KAIST)
Development of vision technology
Vision - 30(60) frames/sec.
Beginning of FIRA

9. FIRA Robot World Cup FIRA history FIRA Robot World Cup ‘98
Jun Jul. 3, 1998, La Cite de Sciences Industrie, Paris, France
NaroSot (Nano-Robot World Cup Soccer Tournament)
1st : MIRO III (KAIST)
S-KheperaSot (Khepera Robot)
1st : STATIC, (Univ. of Aarhus, Denmark)
MiroSot
Four FIRA regional championships
1st : The Keys (Human Interface Inc., Korea)
Development of vision & motor technology
vision - 60 frames/sec
motor - 2m/sec
FIRA Robot World Cup ‘99

10. Category
FIRA
MiroSot
NaroSot
KheperaSot
RaroSot

11. MiroSot FIRA category 3 robots on 1 team Size : 7.5cm * 7.5cm * 7.5cm
Ball : orange golf ball
Playground : black wooden rectangular playground (150cm * 130cm * 5cm)
Vision : global vision system (more than 2m above playground)

12. NaroSot FIRA category 5 robots on 1 team Size : 4cm * 4cm * 5.5cm
Ball : orange table-tennis ball
Playground , Vision : same as Mirosot

13. KheperaSot FIRA category 3 robots on 1 team Ball : yellow tennis ball
Playground : green playground (105cm * 68cm * 20cm)
Robot : Khepera Robot
Vision : K213 Vision Turret

14. RoboSot FIRA category 3 robots on 1 team Size : 15cm * 15cm * 30cm
Ball : red roller-hockey ball
Playground : black wooden rectangular playground (220cm * 150cm * 30cm)
Vision : on the robot
Under preparation

15. History Robocup Jun. 1993 - Robot J-League
Minoru Asada(Osaka Univ), Yasuo Kuniyoshi, Hiroaki Kitano(SONY)
Robot World Cup (RoboCup)
Sep first public announcement
Minour Asada, Manuela Veloso(CMU)
first simulator for soccer games
Itsuki Noda(ETL)
C++ version soccer server v1.0
IJCAI-95 : first public demonstration
Pre-RoboCup-96
Nov. 4-8, 1996, Osaka, IROS-96
8 teams for simulation league, demonstration of middle size league

16. RoboCup 97 Nagoya Aug 23 - 29, 1997, Nagoya, Japan
Conjuction with IJCAI-97
Simulator league
33 teams: USA=8, Europe=8, Australia=2, Japan=15
1st : AT Humboldt (Humboldt Univ., Germany)
Small size robot league
4 teams : USA, France, Spain, Japan
1st : CMUnited (CMU, USA)
Middle size robot league
5 teams : USA, Australia, Japan
1st : Dreamteam (USC, USA), Trakies(Osaka Univ., Japan)
Expert Robot Exhibit

17. RoboCup 98 Paris
Jul. 2-9, 1998, La Cite de Sciences Industrie, Paris, France
Conjunction with ICMAS-98
Middle size league
1st : CS-Freiberg, Germany
Small size league
1st : CMUnited98 (CMU, USA)
Simulator league
Exhibitions
Full set small size robot league (11 robots)
Legged robot game
LEGO robot football demonstration
Webot simulator league

18. Category Simulation league Small-size league (F-180)
Middle-size league (F2000)
Sony legged robot league

19. Simulation League Client-server system Open system
Server : virtual field
Client : brain, control
Communication : UDP/IP
Open system
Clients can be written by any programming systems.

20. Small-Size League 5 robots on 1 team Size Ball : orange golf ball
Area : 18cm rule (fit inside in 18cm diameter cylinder)
Height : 15cm (global vision), 22.5cm (otherwise)
Ball : orange golf ball
Playground : table-tennis table (274cm * 152.5cm * 10cm)
Vision : global vision system (more than 3m above ground)

21. Middle-Size League 4 robots on 1 team (including one goalkeeper) Size
Area : circle of 50cm diameter or square of length 45cm
Height : 80cm
Ball : red small soccer ball (FIFA standard size 4 or 5)
Playground : green playground (10m * 7m * 0.5m)
Global vision system is prohibited.

22. Sony Legged Robot League
3 robots on 1 team
Robot : AIBO ERS-110 (provided by Sony)

23. Discussion Issues Origination Low Cost vs. Big Model
Elegancy vs. Efficency

24. There is a similarity to international boxing.
Summary
FIRA
Since 1996
MiroSot, NaroSot, KheperaSot, RoboSot
RoboCup
Since 1997
Simulation league, Small size league, Middle size league, Sony legged robot league
There is a similarity to international boxing.