Small Size League

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League Overview

Small Size robot soccer is one of the RoboCup league divisions. Small Size robot soccer, or F180 as it is otherwise known, focuses on the problem of intelligent multi-agent cooperation and control in a highly dynamic environment with a hybrid centralized/distributed system.

A camera observes the pitch from above.

A Small Size robot soccer game takes place between two teams of five robots each. Each robot must conform to the dimensions as specified in the F180 #Rules: The robot must fit within an 180mm diameter circle and must be no higher than 15cm. The robots play soccer with an orange golf ball on a green carpeted field that is 6.05m long by 4.05m wide.

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

Off-field computers are used to communicate referee commands and position information to the robots. Typically, these computers also perform most, if not all, of the processing required for coordination and control of the robots. Communications is wireless and typically uses dedicated commercial FM transmitter/receiver units.

Building a successful team requires clever design, implementation and integration of many hardware and software sub-components into a robustly functioning whole making Small Size robot soccer a very interesting and challenging domain for research and education.


Executive Committee

  • Mehmet Akar, Boğaziçi University, Turkey
  • Kanjanapan Sukvichai, Kasetsart University, Thailand
  • Alfredo Weitzenfeld, USF Polytechnic, USA

Technical Committee

  • Joydeep Biswas (Chair) , Carnegie Mellon University, USA
  • Christopher Head , University of British Columbia, Canada
  • Michael Bleier, University of Erlangen-Nuremberg, Germany
  • Mehmet Akar, Bogazici University, Turkey
  • Kanjanapan Sukvichai, Kasetsart University, Thailand
  • Alfredo Weitzenfeld, USF, USA

To contact the SSL TC use this e-mail address rc-ssl-tc {at} lists {dot} robocup {dot} org.

Organizing Committee

  • Toko Sugiura (Chair), Toyota National College of Technology, Japan
  • J. Angelo Gurzoni Jr (Local Chair), University of Sao Paulo / FEI, Brazil
  • Ali Haseltalab, Bogazici University, Turkey
  • Vitor Hugo Betio , Military Institute of Engineering, Brazil

To contact the SSL OC use this e-mail address rc-ssl-oc {at} lists {dot} robocup {dot} org.


The Small Size League 2013 rules are provided at the league's official rules page.


-- 2013 Teams Affiliation
1 BRocks Bogazici University
2 CMDragons Carnegie Mellon University
3 Cyrus Shahid Beheshti University
4 Eagle Knights ITAM / USF
5 EMEnents National University of Sciences and Technology
6 ER-Force University of Erlangen-Nuremberg, Robotic Activities Erlangen e.V.
7 Immortals Iran University of Science & Technology
8 KIKS Toyota National College of Technology
9 MCT Susanoo Logics Matsue College of Technology
10 MRL Qazvin I. Azad University (QIAU)
11 NEUIslanders Near East University
12 Odens Osaka Electro-Communication University
13 Parsian Electrical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic)
14 RFC Cambridge Harvard and MIT
15 RoboDragons Aichi Prefectural University
16 RoboJackets Georgia Institute of Technology
17 RoboFEI Centro Universitário da FEI
18 RoboIME Instituto Militar de Engenharia
19 Skuba Kasetsart University
20 Stanford Robotics Club Stanford University
21 STOX's Universidad Santo Tomás
22 Thunderbots University of British Columbia
23 Tigers Mannheim Cooperative State University Mannheim
24 ZjuNlict Zhejiang University


A list of all event is available at league's official event page.


A list of all event is available at league's official sslroadmap page.

2013 top teams ETDPs

A list of ETDPs submitted by the 2013 top teams is available at league's official web page.

RoboCup 2012 Information

RoboCup Champions

Year 1st Place Team 2nd Place Team 3rd Place Team 4th Place Team
2013 Zjunlict CMDragons MRL Robodragons
2012 Skuba Zjunlict KIKS Parsian
2011 Skuba Immortals MRL KIKS
2010 Skuba CMDragons MRL KIKS
2009 Skuba RoboDragons Plasma-Z Odens
2008 Plasma-Z CMDragons Skuba ZjuNlict
2007 CMDragons Plasma-Z RoboDragons ZjuNlict
2006 CMDragons 5dpo Plasma-Z Field Rangers
2005 FU-Fighters Cornell Big Red Field Rangers CMRoboDragons
2004 FU-Fighters RoboRoos Lucky Star CMRoboDragons
2003 Cornell Big Red RoboRoos FU-Fighters
2002 Cornell Big Red FU-Fighters Lucky Star
2001 Lucky Star Field Rangers Cornell Big Red FU-Fighters
2000 Cornell Big Red FU-Fighters Lucky Star
1999 Cornell Big Red FU-Fighters Lucky Star
1998 CMUnited RoboRoos 5dpo Cambridge
1997 CMUnited Naist

Research State of the Art


Other Information

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