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.

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.

RoboCup 2015 Rules Published

The RoboCup 2015 Middle Size League rules and regulations have been published and can be found here Changes from 2014 to 2015 can be checked here

RoboCup 2015 Call for Participation

The RoboCup 2015 Middle Size League Call for Participation can be found here.

SocRob Team Releases Dataset

Time-stamped sensor data acquired from four omni-directional soccer robots of the SocRob team has been made available. The dataset also contains groundtruth information acquired via an external vision system.

RoboCup MSL Workshop, video

Remco Oudshoorn created this nice video. It explains the goal of the workshop practical session and explains what has been accomplished.

Standardization in Mixed-Team Robot-Robot Communication

During this years MSL Workshop a data structure for communication in mixed-teams was agreed upon. Detailed description available here.

Great Success at MSL Workshop 2014

Slides and videos of the presentations are available on the workshop wiki, which also contains the results of the rulebook discussion and dissemination session. The MSL 4th Workshop has been partially supported by a grant of RoboCup Federation.

Registration Closed, MSL Workshop 2014

A total number of 32 people, representing six teams, have registered for the workshop. Participating teams are: Carpe Noctem, Tech United, CAMBADA, VDL Robot Sports, ASML Falcons and NuBot.

Open Invitation, MSL Workshop 2014

This year (2014) the RoboCup MSL workshop will take place in Eindhoven, on November 10th, 11th and 12th. Click here for the invitation.

RoboCup Soccer Leagues in AI Magazine

A very interesting overview report on the RoboCup Soccer leagues can be found here. This report has been published in AI magazine, Fall 2014, Volume 35, Nº 3, on pages 77-85 by RoboCup trustees Daniele Nardi, Itsuki Noda, Fernando Ribeiro, Peter Stone, Oskar von Stryk and Manuela Veloso.

League Status and Future Outlook

The proceedings of the 2014 RoboCup Symposium contain a description of the accomplishments, current status and future outlook of RoboCup MSL. Available here.

Survey Trustees vs MSL Winner on IEEE Spectrum

Evan Ackerman of IEEE Spectrum wrote this nice survey on the yearly match between the RoboCup Trustees and the winner of the MSL competition.

RoboCup 2014 Winner

Tech United Eindhoven has won RoboCup 2014 in Brazil. Detailed results here.

RoboCup 2014 Challenges Results

This years Technical Challenge has been won by team Water from Beijing. The Scientific Challenge was won by CAMBADA from the University of Aveiro. Detailed results here.

Low-Cost MSL Robot Design Released

A consortium of three companies and Eindhoven University of Technology developed TURTLE-5k, which is a low-cost redesign of an existing MSL robot. The mechanical design of this robot has been released.

RoboCup 2014 Qualification Results

A total number of 11 teams qualified. Detailed results here .

RoboCup 2014 Call for Participation

Please follow this link. Deadline for submission is February 14, on February 28 a list of qualified teams will be released.



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


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
ROBIT Beijing Institute of Technology, China http://ai.bitss.com.cn/
CAMBADA University of Aveiro, Portugal http://robotica.ua.pt/CAMBADA
Carpe Noctem Cassel (CNC) University of Kassel, Germany http://carpenoctem.das-lab.net
Endeavor Wenzhou Vocational & Technical College, China http://elc.wzvtc.net.cn/robot/index.html
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/
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
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
Water Beijing Information Science & Technology University, China http://jdgcxy.bistu.edu.cn/robocup/index_robocup.asp
WinKIT Kanazawa Institute of Technology, Japan http://www2.kanazawa-it.ac.jp/robocup
Falcons ASML, The Netherlands http://www.falcons-robocup.nl/
VDL Robot Sports VDL Enabling Technologies Group, The Netherlands http://www.robotsports.nl/


Year 1st Place Team 2nd Place Team 3rd Place Team Video (Youtube) Video (Youku)
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
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 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.

Former executive committee members:

  • 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

  • Jose Luis Azevedo, University of Aveiro, Portugal (chair)
  • Junhao Xiao, National University of Defense Technology, China
  • Fei Liu, The Second Military Medical University, Shanghai, China (local chair)


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.

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.


  • WM Data Struct - Instructions for logging of world model information via refbox.

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