RoboCupJunior Soccer Rules 2025

Minimum Team Size: Teams must consist of at least 2 members.

Maximum Team Size:

Shared Members and Robots: No team member(s) or robot(s) may be shared between teams.

Age Requirements for RoboCupJunior International Tournaments:

Entry Leagues: RoboCupJunior Entry leagues and other "Primary" divisions (where minimum age may vary) are not run at the international competition but feature in many regions and SuperRegional tournaments.

Technical Roles: Every team member must have a defined technical role (mechanical/design, electrical/sensing, software etc.) and should be able to explain their role during technical judging.

Permitted Communication: Communication between robots during gameplay is allowed as long as it uses the 2.4GHz spectrum and its power output does not exceed 100 mW EIRP under any circumstances.

Responsibility: Teams are responsible for managing their robot communication. Spectrum availability is not guaranteed.

Component Communication: Communication between components of the same robot is permitted under the general guidelines.

League Adaptability: Each league may modify the robot communication rules to ensure they meet their specific requirements.

Electrical Power:

Battery Safety:

Robot Safety Design:

Purpose: Posters are a tool for sharing robot designs and insights with judges, teams, and the public. Posters will be hung in public competition areas in the venue and digital copies or photographs will be shared by RCJ after the competition.

Size: Posters must be no larger than A1 size (60 x 84 cm).

Content: Posters should summarize design documents and present the robot’s capabilities in an engaging format.

Content:

Submission: Guidelines will specify video length and deadlines per league.

Sharing: Materials submitted by teams as part of the documentation submission will be shared on GitHub repositories for the leagues: https://github.com/robocup-junior

Credit: Teams must credit creators of external work and adhere to licensing rules. The focus should remain on personal growth and learning.

External Code Use: Teams are allowed to use external code but must credit the original creators.

Learning Priority: Teams should prioritize learning and not use complete solutions from others. Always pay attention to licensing rules.

Submission: Teams must submit a BOM listing major components and materials used.

Details: The BOM must include:

Template: A standardized BOM template will be provided with the league documentation submissions for the international competition.

Detailed changes are listed below and link to the corresponding place in the rules.

RCJ Soccer games consist of two teams of robots playing soccer against each other. Each team has two autonomous robots. The game will consist of two halves. The duration of each half is 10-minutes. There will be a 5-minute break in between the halves.

Teams are expected to be at the field 5 minutes before their game starts. Being at the inspection table does not count in favor of this time limit. Teams that are late for the start of the game may be penalized one goal per 30 seconds at the referee’s discretion.

The final game score will be trimmed so that there is at most 10-goal difference between the losing and the winning team.

At the start of the first half of the game, a referee will toss a coin. The team mentioned first in the draw shall call the coin. The winner of the toss can choose either which end to kick towards, or to kick off first. The loser of the toss chooses the other option. After the first half, teams switch sides. The team not kicking off in the first half of the game will kick off to begin the second half of the game.

During the pre-match meeting the referee(s) may check whether the robots are capable of playing (i.e., whether they are at least able to follow and react to the ball). If none of the robots is capable of playing, the game will not be played and zero goals will be awarded to both teams.

Each half of the game begins with a kick-off. All robots must be located on their own side of the field. All robots must be halted. The ball is positioned by a referee in the center of the field.

The team kicking off places their robots on the field first.

The team not kicking off will now place their robots on the defensive end of the field. All robots on the team not kicking off must be at least 30 cm away from the ball (outside of the center circle).

Robots cannot be placed out of bounds. Robots cannot be repositioned once they have been placed, except if the referee requests to adjust their placement to make sure that the robots are placed properly within the field positions.

On the referee’s command (usually by whistle), all robots will be started immediately. Any robots that are started early will be removed by the referee from the field and deemed damaged.

Before a kick-off, all damaged or out-of-bounds robots are allowed to return to the playing field immediately if they are ready and fully functional.

If no robots are present at a kick-off (because they have moved out-of-bounds Rule 2.8, “Out of bounds” or are damaged Rule 2.9, “Damaged robots”), the penalties are discarded and the match resumes with a Rule 2.3.1, “Neutral kick-off”.

A goal is scored when the ball strikes or touches the back wall of the goal. Goals scored by any robot have the same end result: they give one goal to the team on the opposite side. After a goal, the game will be restarted with a kick-off from the team who was scored against.

A robot cannot hold a ball. Holding a ball is defined as taking full control of the ball by removing all of degrees of freedom. Examples for ball holding include fixing a ball to the robot’s body, surrounding a ball using the robot’s body to prevent access by others, encircling the ball or somehow trapping the ball with any part of the robot’s body. If a ball does not roll while a robot is moving, it is a good indication that the ball is trapped.

The only exception to holding is the use of a rotating drum (a "dribbler") that imparts dynamic back spin on the ball to keep the ball on its surface.

Other players must be able to access the ball.

The ball needs to stay within the bounds of the field, as defined by the walls. If a robot moves the ball outside of the field (that is, beyond the walls or above their height), it is deemed damaged. (Rule 2.9, “Damaged robots”)

Any robot must approach and touch the ball when it is placed on the nearest neutral spot. It must do this before lack of progress is called. When on its own side of the field, any robot must be able to move the ball from the nearest neutral spot to the opponent’s side of the field. If a specific robot does not act this way, referees may deem it damaged at their discretion. (See Damaged Robots.) This rule does not apply if the robot is hindered from detecting or playing the ball by the opponent.

No robots are allowed to be fully inside the penalty area. As the penalty areas are marked with a white line, the Out of Bounds rule applies as well. (Rule 2.8, “Out of bounds”)

If two robots from the same team are at least partially in a penalty area, the robot further from the ball will be moved to the furthest unoccupied neutral spot immediately. If this happens repeatedly, a robot may be deemed damaged at referee’s discretion. (Rule 2.9, “Damaged robots”)

If an attacking and a defending robot touch each other while at least one of them is at least partially inside the penalty area, and at least one of them has physical contact with the ball, this may be called "pushing" at the referee’s discretion. In this case, the ball will be moved to the furthest unoccupied neutral spot immediately.

If a goal is scored as a result of a "pushing" situation, it will not be granted.

Lack of progress occurs if there is no progress in the gameplay for a reasonable period of time and the situation is not likely to change. Typical lack of progress situations are when the ball is stuck between robots, when there is no change in ball and robot’s positions, or when the ball is beyond detection or reach capability of all robots on the field.

After a visible and loud count ^[7], a referee will call lack of progress and will move the ball to the nearest unoccupied neutral spot. If this does not solve the lack of progress, the referee can move the ball to a different neutral spot.

If a robot touches a wall or moves completely into the penalty area it will be called for being out of bounds. When this situation arises, the robot is removed from the field for a one-minute penalty. There is no time stoppage for the game itself. The robot is allowed to return if a kick-off occurs before the penalty has elapsed.

The one-minute penalty starts when the robot is removed from play. Furthermore, any goal scored by the penalized team while the penalized robot is on the field will not be granted. Out-of-bounds robots can be fixed if the team needs to do so, as described in Rule 2.9, “Damaged robots”.

After the penalty time has passed, robot will be placed on the unoccupied neutral spot furthest from the ball, facing its own goal.

A referee can waive the penalty if the robot was accidentally pushed out of bounds by an opposing robot. In such a case, the referee may have to slightly push the robot back onto the field.

If a robot is damaged, it has to be taken off the field and must be fixed before it can play again. Even if repaired, the robot must remain off the field for at least one minute or until the next kick-off is due.

Some examples of a damaged robot include:

After a robot has been fixed, it will be placed on the unoccupied neutral spot furthest from the ball, facing its own goal.

Only the referee decides whether a robot is damaged. A robot can only be taken off or returned with the referee’s permission.

If both robots from the same team are deemed damaged at kick-off, gameplay will be paused and the remaining team will be awarded 1 goal for each elapsed 30 seconds that their opponent’s robots remain damaged. However, these rules only apply when none of the two robots from the same team were damaged as the result of the opponent team violating the rules.

Whenever a robot is removed from play, its motors must be turned off.

Except for the kick-off, human interference from the teams (e.g. touching the robots) during the game is not allowed unless explicitly permitted by a referee. Violating team(s)/team member(s) may be disqualified from the game.

The referee(s) can help robots get unstuck if the ball is not being disputed near them and if the situation was created from normal interaction between robots (i.e. it was not a design or programming flaw of the robot alone). The referee(s) will pull back the robots just enough for them to be able to move freely again.

In principle, a game will not be stopped.

A referee can stop the game if there is a situation on or around the field which the referee wants to discuss with an official of the tournament or if the ball malfunctions and a replacement is not readily available.

When the referee has stopped the game, all robots must be stopped and remain on the field untouched. The referee may decide whether the game will be continued/resumed from the situation in which the game was stopped or by a neutral kick-off.

Robots are not allowed to be colored orange, yellow or blue in order to avoid interference. Orange, yellow, blue colored parts used in the construction of the robot must either be occluded by other parts from the perception by other robots or be taped/painted with a neutral color.

Robots must not produce magnetic interference in other robots on the field.

Robots must not produce visible light that may prevent the opposing team from playing when placed on a flat surface. Any part of a robot that produces light that may interfere with the opposing robot’s vision system must be covered. For Lightweight-specific regulations see Rule 6.2.2, “Infrared interference in Lightweight”

The referee can interrupt a game in progress if any kind of interference from spectators is suspected (IR emitters, camera flashes, mobile phones, radios, computers, etc.). However, robots are expected to be capable of dealing with any visible colors above the walls (e.g. blue, yellow, green or orange shirts) either in hardware (e.g. limiting the field of view from looking up) or in software (e.g. masking the input image).

A team claiming that their robot is affected by the other team’s robot in any way must show the proof/evidence of the interference. Any interference needs to be confirmed by the tournament organizers if a claim is placed by the other team.

The use of remote control of any kind is not allowed during the match. Robots must be controlled autonomously.

For only the World Championships, starting in Brazil 2025, use of a Communications Module is required for referees to control the robots. See Rule 7.2, “International Competition Specifics”

Robots must be constructed and programmed in a way that their movement is not limited to only one dimension (defined as a single axis, such as only moving in a straight line). They must move in all directions, for example by turning.

All robots must have a stable and easily noticeable handle to hold and to lift them. The handle must be easily accessible and allow the robot to be picked up from at least 5 cm above the highest structure of the robot. * There must be a minimum clearance of 5 cm for hands between the highes non-handle part of the robot and the handle. *

The dimensions of the handle may exceed the robot height limitation, but the part of the handle that exceeds this limit cannot be used to mount components of the robot.

The weight of the robot includes that of the handle.

A robot must have markings in order to be distinguished by the referee. Each robot must have a white plastic circle with a diameter of at least 4 cm mounted horizontally on top. This white circle will be used by the referee to write numbers on the robots using markers, therefore the white circles must be accessible and visible. The top markers do not need to be within the size limit of the robot.

Before the game, the referee will designate the numbers for each robot and will write them on the top white circle. Robots not carrying the top white circle are not eligible to play.

Robots that do not abide by the specifications/regulations (see Rule 6.2, “Regulations”) are not allowed to play, unless these rules specify otherwise.

If violations are detected during a running game the team may be disqualified for that game.

If similar violations occur repeatedly, the team may be disqualified from the tournament.

Detailed specifications of the ball and fields can be found here ^[8].

Starting in 2026, Lightweight Soccer will be moving to a new IR Ball. The key difference with this ball is the size change from 74mm to 42mm diameter, which is the same size as the Open League’s passive ball. More information will be released during the 2025 season by the Committee. This ball is Open-Source, so anyone can produce one from the files & instructions on the GitHub Page here: https://github.com/robocup-junior/ir-golf-ball . Entry Leagues will continue to use the large infrared ball. ^[9]

Balls for the tournament must be made available by the tournament organizers. Tournament organizers are not responsible for providing balls for practice.

It is expected that the aim of all teams is to play a fair and clean game of robot soccer. It is expected that all robots will be built with consideration to other participants.

Robots are not allowed to cause deliberate interference with or damage to other robots during normal gameplay.

Robots are not allowed to cause damage to the field or to the ball during normal gameplay.

A robot that causes damage may be disqualified from a specific match at the tournament organizer’s discretion.

Humans are not allowed to cause deliberate interference with robots or damage to the field or the ball.

The referee(s) are in charge of making decisions with regards to the game, according to these rules.

During gameplay, the decisions made by the referee(s) are final.

Only the team member(s) at the table have a mandate to freely speak to the referee(s).

At the conclusion of the game the results become final with signatures from both teams. Disputes need to be settled before signing.

Rule clarification may be made by members of the tournament organizers and the Soccer League Committee, if necessary even during a tournament.

If special circumstances, such as unforeseen problems or capabilities of a robot occur, rules may be modified by the tournament organizers, if necessary even during a tournament.

Each competition (from local to international) may have adapted rules and added specifics (scoring, interviews, tournament modes, rule variations etc.). Check with organizers of each tournament you participate in.

For RoboCupJunior , there are two sub-leagues as follows

The matches in the Soccer Open sub-league are conducted using a passive ball, whereas the matches in the Soccer Lightweight sub-league are played using the IR ball. ^[10]

This rule has been removed from 2025 onwards. ^[13]

Starting from the 2025 International Competition in Brazil, the Soccer League Committee will provide each team with a Communication Module. This allow for easier co-ordination of games and referee control of robots during matches. Each team will be expected to interface with this module using a single 2.54mm GPIO pin at present to start and stop the robots. The Soccer League Committee plans on extending this to using UART for more complex applications in future years. Please see the GitHub page for more information on the module: https://github.com/robocup-junior/soccer-communication-module The module itself may exceed the maximum height of the robot. It must be placed at least 1cm away from the outside and protected from impact damage.

During the international competition, the tournament organizers may arrange to interview teams during the Setup Day of the event. This means that the teams need to be already present early on this day.

Details on what is required for and what to expect from interviews can be found in the scoring document available here ^[14].

The Soccer League Committee recommends the implementation of interviews in regional competitions as well, but this is not mandatory. Teams should check with tournament organizers if they hold interviews and if so and what kind of interview to expect.

Inspired by the major leagues and the need for further technological advancement of the leagues, the Soccer League Committee runs what are called Technical Challenges. New challenges are added each year, and are unknown until during the International Competition.

The idea of these challenges is to give the teams an opportunity to show off various abilities of their robots which may not get noticed during the regular games. Furthermore, the Soccer League Committee envisions these challenges to be a place for testing new ideas that may make it to the future rules, or otherwise shape the competition.

Any RoboCupJunior Soccer team will be eligible to try to tackle these challenges.

All teams qualified to the international competition must share their designs, both hardware and software, with all present and future participants. These teams are also required to send a digital portfolio before the competition. Further details on how will be provided by the Soccer League Committee which acts as the tournament organizers for the international competition.

During the competition days of the international competition (as well as before the event) the team members are responsible for checking all relevant information published by the Soccer League Committee or any other RoboCup official.

There will also be a SuperTeam competition, in which various teams from around the world share their robots in one "SuperTeam" and play against other SuperTeams on a so called "Big Field". Teams could utilise different camera lenses or sensors optimised for the larger playing fields to improve their performance. The full rules of this challenge can be found at https://robocup-junior.github.io/soccer-rules/master/superteam_rules.html or https://robocup-junior.github.io/soccer-rules/master/superteam_rules.pdf

Teams competing in the international competition can receive awards for their performance. These awards are decided and introduced by the Soccer League Committee, which publishes all necessary details well before the actual event. In the past years they were awarded for best poster, presentation, robot design, team spirit and individual games. ^[15]