# Game Rules

• AI Soccer is held between two teams consisting of 5 AI Soccer agents each.

• Game Duration: One game is held for 5 minutes. In the qualifying/main rounds, two 5 minute games will be held for each match and scores of two games will be summed.

• Goal: A goal happens when the center of the ball crosses the goal area. The position of all agents and the ball are reset to the initial position.

• Deadlock: The deadlock is defined as when the ball is not moving fast enough for few seconds. It is assumed that AI Soccer agents are blocking the ball from passed to other locations. This may also happen when the agents are not kicking the ball frequently enough. Two rules are associated with the deadlock.

1. When the ball is moving at speed less than 0.4 m/s for more than 2.5 seconds, all active AI Soccer agents located within 1.5*(ball_radius + robot_radius) m from the ball are sent out from the game until a reset happens.
2. When the ball is moving at speed less than 0.4 m/s for more than 5 seconds, the position of all agents and the ball are reset to the initial position.
• Foul in the Penalty Area: The penalty area is defined as an area with depth equal to 0.5 m and width equal to 1.3 m near the goal plus the region inside the goal. Two rules are associated with the penalty area.
1. If the average number of ally agents staying in the ally's penalty area for the last 1 seconds is more than or equal to 4 and there are still at least 4 ally agents in that penalty area, one ally agent staying in the area is selected randomly and sent out from the game until a reset happens.
2. If the average number of ally agents staying in the opponent's penalty area for the last 1 seconds is more than or equal to 4 and there are still at least 4 ally agents in that penalty area, one ally agent staying in the area is selected randomly and sent out from the game until a reset happens.
• Foul in the Goal Area: The goal area consists of an area with depth equal to 0.2 m and width equal to 0.5 m near the goal plus the region inside the goal. Two rules are associated with the goal area.
1. If the average number of ally agents staying in the ally's goal area for the last 0.5 seconds is more than or equal to 3 and there are still at least 3 ally agents in that goal area, one ally agent staying in the area is selected randomly and sent out from the game until a reset happens.
2. If the average number of ally agents staying in the opponent's goal area for the last 0.5 seconds is more than or equal to 3 and there are still at least 3 ally agents in that goal area, one ally agent staying in the area is selected randomly and sent out from the game until a reset happens.
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