Middle Size League

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This is the official page of the RoboCup Middle Size League (MSL). On this page you find an overview of the participating teams, the MSL committees, the latest rules and regulations, results of the world championships, local events and more...

Please contact Bernado Cunha or Robin Soetens in case information on this page is missing or incorrect.


Make sure to subscribe to the official RoboCup MSL mailing list to stay up to date.

Team Water in Yang Lan docu

Fourfold RoboCup MSL champion Team Water features in this documentary, which aired recently on Chinese television.

Standardized world state logging files published!

From 2016 onwards MSL teams are providing perceived game state and robot intentions in a standardize format. Data logged during the RoboCup Leipzig world cup is published on this wiki.

Qualification RoboCup 2017 in Japan

The qualification results for RoboCup 2017 in Japan are published. Nine teams are qualified, team names, ranking and links to qualification material can be found here.

Edition VI of the International MSL Workshop was held in Kassel, Germany

The 2016 RoboCup MSL workshop was held at the University of Kassel. A summary, slides and videos of presentations and discussions are available here.

MSL Rulebook for RoboCup 2017 published

See below for the official rulebook for RoboCup MSL in 2017, along with a document summarizing the main changes. Among the changes are increased freedom for size and colors of robot markers, and a more extensive technical challenge!

Call for participation, RoboCup 2017 in Japan

Pre-registration deadline for the MSL competition is set to January 31. Please find the call for participation, here.

Group picture

Two pictures of the MSL community present at RoboCup Leipzig are now available: A happy one, and an even happier one!

Competition RoboCup 2016

A livestream of field B of the MSL competition is available via this page. Results can be found here.

RoboCup 2016 Scientific and Technical Challenges

We congratulate team Water from the Beijing Information Science and Technology University on winning the Technical Challenge, and team CAMBADA from the University of Aveiro on winning the Scientific Challenge! Several pictures of the Technical Challenge can be found here. The scientific presentation of CAMBADA involved a live demo of optimized ball intercept strategies.

Qualification RoboCup 2016

The qualification results for RoboCup 2016 in Leipzig are published. Ten teams are qualified, team names and ranking can be found here.

Rulebook published

The rulebook for RoboCup MSL in 2016 has been published. Together with a document summarizing the most important changes, it can be found here.

New RefBox project has been released

The new RefBox project, used and pre-tested during the V International MSL Workshop 2015 has been released and can be found at this site. All teams are invited to download the current version, and start testing with it, since this will most likely become the RefBox application for next year's competitions. New documentation regarding this RefFox will be updated soon.

Edition V of the International MSL Workshop was held in Aveiro, Portugal

This 2015 RoboCup MSL workshop took place in Aveiro, on November 23th, 124h and 25th. Click here for further information.

RoboCup 2016 Call for Participation

The RoboCup 2016 Middle Size League Call for Participation can be found here.

RoboCup 2015 Results

The results for the Tournament, Scientific Challenge and Techical Challenge in RoboCup 2015 can be seen here

Pre-qualification results for the 2015 MSL RoboCup Competition in China

Pre-Qualification results here

Public Release Code CAMBADA Team

Software developed by the CAMBADA team has been released under a GPL3 license. The release includes code for robot-robot communication, an MSL basestation, a simulator for MSL and the role of a striker.

Check also for PREVIOUS NEWS

Previous news can be found at this link



Rules for the 2017 competitions: 2016-12-31    (changes w.r.t. last year here)

Rules for the 2016 competitions: 2015-12-31    (changes w.r.t. last year here)

Rules for the 2015 competitions: 2014-12-31    (changes w.r.t. last year here)

Rules for the 2014 competitions: 2013-12-31    (changes w.r.t. last year here)

Rules for the 2013 competitions: 2012-12-10

Rules for the 2012 competitions: 2011-12-29

Rules for the 2011 competitions: 2010-12-31

Rules for the 2010 competitions: 2010-05-12

Rules for the 2009 competitions: 2008-12-12

Teams (in alphabetical order)

Team Affiliation Homepage
5DPO FEUP-DEEC / INESC-Porto, Portugal http://paginas.fe.up.pt/~robosoc/en
Adro Isfahan Azad University, Iran http://www.iranadro.com
ARES The Pilot College Of Beijing University of Technology, China http://www.pcbjut.com/RoboCup/
CAMBADA University of Aveiro, Portugal http://robotica.ua.pt/CAMBADA
Carpe Noctem Cassel (CNC) Distributed Systems Group, University of Kassel, Germany http://carpenoctem.das-lab.net
CS_Rob Changshu Institute of Technology, China http://dqxylib.cslg.cn/view.asp?id=2652
Endeavor Wenzhou Vocational & Technical College, China http://elc.wzvtc.net.cn/robot/index.html
Falcons ASML, The Netherlands http://www.falcons-robocup.nl/
Hibikino Musashi Kyushu Institute of Technology, University of Kitakyushu, Japan http://robocup.ksrp.or.jp/hibikino-musashi
Hong Kong Dragons City University of Hong Kong, China http://www.ap.cityu.edu.hk/robocup/robocup.htm
ISePorto LSA-ISEP, Portugal http://www.lsa.isep.ipp.pt/iseporto_home.html
JiaoLong Shanghai Jiao Tong University, China http://robolab.sjtu.edu.cn/
Lushan The College of Computer Science and Electronic Engineering, Hunan University, China
MINHO University of Minho, Portugal http://www.robotica.dei.uminho.pt/robocup
MRL Qazvin Islamic Azad University, Iran http://mrl.ir/index.php/middle-size
MU Penguins University of Melbourne, Australia http://robocup.eng.unimelb.edu.au/
NuBot National University of Defense Technology, China http://nubot.nudt.edu.cn
Paderkicker University of Paderborn, Germany http://www.paderkicker.de
RFC Stuttgart University of Stuttgart, Germany http://robocup.informatik.uni-stuttgart.de
ROBIT Beijing Institute of Technology, China http://robit.quanquan6.com/
RV-Infinity Tokyo Polytechnic University, Japan http://www.seit.t-kougei.ac.jp/vision/
SocRob Institute for Systems and Robotics, Portugal http://socrob.isr.ist.utl.pt
Strive-Legends Shanghai University, China http://robocup.shu.edu.cn
Tech United Eindhoven Eindhoven University of Technology, The Netherlands http://www.techunited.nl
VDL Robot Sports VDL Enabling Technologies Group, The Netherlands http://www.robotsports.nl/
Water Beijing Information Science & Technology University, China http://blog.sina.com.cn/s/articlelist_2532664717_0_1.html‍
WinKIT Kanazawa Institute of Technology, Japan http://www2.kanazawa-it.ac.jp/robocup


Year 1st Place Team 2nd Place Team 3rd Place Team Video (Youtube) Video (Youku)
2016 Tech United Water CAMBADA Highlights - Full Highlights
2015 Water Tech United ARES Highlights - Full Full
2014 Tech United Water CAMBADA Highlights - Full Highlights
2013 Water Tech United CAMBADA Highlights - Full Highlights
2012 Tech United MRL Water Highlights Highlights
2011 Water Tech United CAMBADA Highlights - Full 1 2 3 4 Highlights
2010 Water Tech United CAMBADA Highlights - Full 1 2 3 4 Full 1 2 3 4
2009 1.RFC Stuttgart Tech United CAMBADA Highlights Highlights
2008 CAMBADA Tech United CoPS-Stuttgart Highlights Highlights
2007 Tribots Eigen CoPS-Stuttgart Highlights
2006 Tribots CoPS-Stuttgart Full
2005 EIGEN FU-Fighters Philips Highlights
2004 EIGEN WinKIT CoPS-Stuttgart Highlights
2003 Fusion WinKit Persia Highlights
2002 EIGEN WinKIT Osaka Univ. Trackies2002 Highlights
2001 CS Freiburg Trackies EIGEN Highlights
2000 CS Freiburg Golem Team Sharif CE Highlights
1999 Sharif CE Azzurra Robot Team CS Freiburg
1998 CS Freiburg Tubingen Osaka Univ.
1997 Dreamteam Trackies

Detailed results

Results of the 2016 competition here

Results of the 2015 competition here

Results of the 2014 competition here

Results of the 2013 competition here

Results of the 2012 competition here

Results of the 2011 competition here

Results of the 2010 competition here

Results of the 2009 competition here


Make sure to subscribe to the official RoboCup MSL mailing list to stay up to date.

Executive committee

The Executive Committee members represent the MSL within the general RoboCup community. Executive committee members are appointed for three years.

  • Robin Soetens, Eindhoven University of Technology, The Netherlands (2017-2019) - second term
  • Ricardo Dias, DETI/IEETA, University of Aveiro, Portugal (2017-2019) - first term
  • Junhao Xiao, National University of Defense Technology, China (2017-2019) - first term

Former executive committee members:

  • Yasunori Takemura, Nippon Bunri University, Japan (2011-2016)
  • Andreas Witsch, University of Kassel, Germany (2016)
  • Bernardo Cunha, University of Aveiro, Portugal (2011-2015)
  • Roel Merry, Eindhoven University of Technology, The Netherlands (2010-2012)
  • Andrea Bonarini, Politecnico di Milano, Italy (2006-2010)
  • Fernando Ribeiro, University of Minho, Portugal (2004-2010)
  • Yasutake Takahashi, Osaka University, Japan (2006-2009)
  • Gerald Steinbauer, Graz University of Technology, Austria (2010-2011)

Technical committee

The Technical Committee (TC) is responsible for technical issues of the league along with the Executive Committee members listed above. The current TC members are listed below.

Organizing committee

The organizing committee is currently formed by:

  • Fei Liu (chair), Chinese Association of Automation, China
  • Shota Chikushi, Kyushu Institute of Technology, University of Kitakyushu, Japan
  • Lotte de Koning, Eindhoven University of Technology, The Netherlands


Scientific and Technical Publications

  • Bibliography digest - Contains a chronologically organized list of publications related to MSL, starting in 1997. Please read the notes on the first page to see how to contribute to maintain this document up to date.
  • MSL status - A description of the accomplishments, current status and future outlook of RoboCup MSL, published in the proceedings of the 2014 RoboCup Symposium.
  • Soccer leagues survey - An overview report on the RoboCup Soccer leagues published in AI magazine, Fall 2014, Volume 35, Nº 3, pages 77-85.
  • Robotic open platform - The mechanical and electrical design of various robots participating in MSL have been released under an open hardware license here.
  • MSL logging database - Worldmodelling data provided by team basestation and logged via refbox pc, according to JSON format described here.

How to Build an MSL Field

  • Tutorial - This file contains instructions on how to construct an official competition field for RoboCup MSL, along with frequently asked questions with respect to organizing an MSL tournament.

Workshop Dissemination

  • Wiki - Slides, videos and other results of the yearly RoboCup MSL workshop.


List of MSL events

  • MSL events - An overview of events related to RoboCup MSL, both official world championships and local events.
  • https://goo.gl/maps/AI9aW - Teams and events across the globe (Last update: May 2015)


  • WM Data Struct - Instructions for logging of world model information via refbox (last Rev: 2016/03/04).

Pictures and video

Only add links to material of which the copyright notice allows free reuse!