Small Size Robot


IranOpen is a competition domain designed to advance robotics and AI research through a friendly competition. 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 Small Size robot soccer game takes place between two teams of eleven (six in division B) robots each. Each robot must conform to the dimensions as specified in the F180 rules: the robot must fit within an 180 mm diameter circle and must be no higher than 15 cm. The robots play soccer with an orange golf ball on a green carpeted field that is about 12 m long by 9 m wide.

All objects on the field are tracked by a standardized vision system that processes the data provided by multiple cameras that are attached to a camera bar located about 4 m above the playing surface. The vision system 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.


The general rules of this year's tournament rules are 2020 rules. the Small Size League will be divided into two divisions with separate tournaments: Division A and division B. Division A is aimed at advanced teams whereas new and/or less competitive teams can play in division B. Each team will only play in one of those two divisions. When submitting the qualification material, the team also chooses a preferred division including a short rationale

Following materials are needed for qualification:
1- A Team Description Paper which: 

  • should contain a brief description of the team, with citations to previous TDPs and the team's website where appropriate.

  • should focus on innovations that the team has produced with respect to their previous TDPs. These innovations should be described in detail, to facilitate reproducibility for other teams, where possible.

  • should have a clear structure and it should be written in clear English.

  • should be formatted according to the Springer LNAI format, as the symposium submissions (

2- A qualification video that must be at least 1 minute of unedited continuous footage. The qualification video can be either of the following types, although preference will be given to item 1 (then 2 and last 3):


  1. A video of your robots participating in a RoboCup standard game (i.e. a game at RoboCup or one of the local regional competitions). The video should show obstacle avoidance, shooting and passing skill. The game should be based on contemporary rules (2011 and afterwards).

  2. A video of your robots (there must be at least two moving robots) engaging in two or more of the following activities:

    • One or more robots competing against an active robot goalkeeper.

    • Two or more robot field players actively going to the ball and playing against one another.

    • At least two robots playing cooperatively against 5 static or moving obstacles.

  3. A video showing one or more robots partially demonstrating capabilities listed in item 2.


The team video is used by the OC to determine the readiness of a team to compete effectively and is part of the criteria in ranking teams in the qualification process. Teams are advised to submit a video that best demonstrates the readiness of the team to compete in an international competition.

All robots will be checked before the competitions and if they fail to qualify they are not allowed to participate. Furthermore each team should be ready to explain the design of its robots.


Division A:

1-number of robots:

division A will play with 11 robots per team by 2020

2-field size:

To provide enough space for 11 robots, the field size will be:

3-Rectangular defense area  :

To make the defense more interesting, the shape of the defense area will be changed to a rectangle (2.40x1.20m for the large field).

4-ball speed:

Even though the field increases quite a bit for division A, the maximum allowed ball speed will be reduced from 8m/s to 6.5m/s

5-Additional changes:

The optional change in this year rules is the walls. we still waiting for the finall decision from the Robocup TC/OC. 

the competiton will be held under the latest rules by Robocup SSL community.


Division B:

1- number of robots:

division B will play with maximum 6 robots per team by 2018

2- field size:

the field size is the same as last year 

3-Rectangular defense area  :

To make the defense more interesting, the shape of the defense area will be changed to a rectangle (2.00x1.00m for the small field).

4- ball speed:

the maximum allowed ball speed will be reduced from 8m/s to 6.5m/s

5-Additional changes:

Only linear shots can be used to score a goal. If the ball height exceeds the robot height between the last contact of an attacker and the crossing of the goal line, the goal will not be scored.


Teams Summary

Name Leader Number of members Affiliation Country Status Payment
Immortals Amirmahdi Matin 1 دانشکده فنی دانشگاه تهران Iran Pending Incomplete
دیمان Abolfazl Abasian 4 دانشگاه Iran Pending Incomplete
MRL meisam kasaeian naeini 1 qiau Iran Pending Incomplete
Parsian Mohammad reza Kolani 10 (Amirkabir University of Technology (AUT Iran Pending Incomplete
Omid Mohammad hossein Zolfaghari abir 9 دانشگاه شاهد Iran Pending Incomplete