-
Notifications
You must be signed in to change notification settings - Fork 1
AI Soccer Rules P9
Previous Page - Section 2 - Rules (8/9)
A ball relocation can happen after a deadlock in other regions. In the ball relocation, there are four designated relocation positions. The ball will be relocated to the relocation position closest to the current ball position. The robots are not relocated in the ball relocation. After the ball relocation, the game resumes and all robots can move immediately.
| Ball Relocation Positions | |||
| Position A | Position B | Position C | Position D |
| (-1.95, 1.3) | (-1.95, -1.3) | (1.95, 1.3) | (1.95, -1.3) |
Sometimes, a robot can fall down and cannot stand up by itself. If a robot falls down and cannot recover from the fall for 3 seconds, the robot will be moved out of the soccer field (to the ball out area) and stay inactive there for 5 seconds. Also, in very rare cases the robot can accidently leave the soccer field. The robot leaving the soccer field is immediately moved to the ball out area and stay inactive there for 5 seconds.
After 5 seconds have passed, the robot will be moved back to the soccer field to the designated position and orientation. In case another robot or the ball is blocking the return position, the robot will stay out of the field until the position becomes available.
Also, the goal area foul by offense can send the goalkeeper robot out as a penalty.
| Robot Return Coordinates | ||||
| Team A | Team B | |||
| GK | (-4.94, 0.0) | 0 | (4.94, 0.0) | π |
| D1 | (-2.925, 1.3) | 0 | (2.925, -1.3) | π |
| D2 | (-2.925, -1.3) | 0 | (2.925, 1.3) | π |
| F1 | (-2.145, 0.247) | 0 | (2.145, -0.247) | π |
| F2 | (-2.145, -0.247) | 0 | (2.145, 0.247) | π |
If a goalkeeper leaves its own team's penalty area for more than 3 seconds, the goalkeeper is relocated back to the default position which is the same as the goalkeeper return position in a robot send out situation.