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 the RoboCup MSL technical committee 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.

New joint project: the MSL Simulator

A joint project was born in the 7th MSL Workshop - the MSL Simulator. A repository has been created specifically for this project, which can be found here. Also, its Wiki page includes more details about this simulator. All MSL teams are welcome to contribute to this project!

The 7th Edition of the MSL Workshop was held in Eindhoven

The results of the workshop can be found in this link.

MSL Workshop 2017, call for participation

ASML Falcons, VDL Robot Sports and Tech United Eindhoven will host the 7th International RoboCup Middle Size League Workshop! The workshop will take place in Eindhoven, on November 16th, 17th and 18th. Full call for participation here.

Team Water winner of RoboCup 2017 in Japan

Beating team Tech United Eindhoven in the final match Team Water of the University of Beijing is the winner of RoboCup 2017 in Japan! Highlights here. All results here.

Historical material RoboCup European Championship

In the year 2000, the first RoboCup European Championship was held at the Sports Centre of the University of Amsterdam. Arnoud Visser published these videos of some of these very early RoboCup MSL matches!

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.

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)
2017 Water Tech United CAMBADA Highlights - Full
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 2017 competition here

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.

  • Ricardo Dias, DETI/IEETA, University of Aveiro, Portugal (2017-2019) - second term
  • Junhao Xiao, National University of Defense Technology, China (2017-2019) - second term
  • Seyed Ehsan Marjani Bajestani, Qazvin Islamic Azad University, Iran (2018-2020) - first term

Former executive committee members:

  • Robin Soetens, Eindhoven University of Technology, The Netherlands (2016-2017)
  • 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.

  • Wouter Houtman, Eindhoven University of Technology, Netherlands
  • Yifei Han, Beijing Information Science & Technology University, China
  • Junchong Ma, National University of Defense Technology, China

Organizing committee

The organizing committee is currently formed by:


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!