【正文】 penalty area, will be 25cm along the goal line and 5cm perpendicular to it. The major lines/arcs (centerline, goal area borderlines and the center circle) will be white in color and 3mm in thick. The free ball (Law 13) robot positions (circles) shall be marked in gray color. (c) The goal The goal shall be 40cm wide. Posts and nets shall not be provided at the goal. (d) The goal line and goal area The goal line is the line just in front of the goal, which is 40cm long. The goal areas (The region A of Appendix 1) shall prise of the area contained by the rectangle (sized 50cm X 15cm in front of the goal). (e) The penalty area The penalty areas (The region B of Appendix 1) shall prise of areas contained by the rectangle (sized 80cm X 35cm in front of the goal) and the attached arc (25cm in parallel to the goal line and 5cm perpendicular to it). (f) The ball An orange golf ball shall be used as the ball, with diameter and 46g weight. (g) The filed location The field shall be indoors. (h) The lighting condition The lighting condition in the petition site shall be fixed around 1,000 Lux. Law 2 : The Players (a) The overall system A match shall be played by two teams, each consisting of five robots. One of the robots can be the goalkeeper (Law 2.(b).2). Three human team members, a manager, a coach and a trainer shall only be allowed on stage. (b) The robots 1.s size. The topside of a robot must not be colored in orange. A color patch either blue or yellow, as assigned by the organizers, will identify the robots in a team. All the robots must have (at least) a X solid region of their team color patch, blue or yellow, visible on their top. A team39。 To enable infrared sensing a robot39。 A robot within its own goal area (Law 1.(d).) shall be considered as the goalkeeper. The goalkeeper robot shall be allowed to catch or hold the ball only when it is inside its own goal area or penalty area. 3. The robots are allowed to equip with arms, legs, etc., but they must ply with the size restrictions (Law 2.(b).1) even after the appendages fully expanded. None of the robots, except the single designated goalkeeper, shall be allowed to catch or hold the ball such that more than 30% of the ball is out of view either from the top or from the sides (Appendix 2). 5.timeout39。timeout39。 5 have been omitted due to their covering of the puter system information that can control the physical robots and the vision system that is used for the physical robots. Law 5 : Game Duration 1. If a team is not ready to resume the game after the half time, additional 5 minutes shall be allowed. Even after the allowed additional time if such a team is not ready to continue the game, that team will be disqualified from the game. Law 6 : Game Commencement 1.s identification color (blue/yellow) or the ball. The team who receives the ball shall be allowed to opt for their carrier frequency band as well. 2.s own side. With a signal from the referee, the game shall be started and all robots may move freely. 3. After the half time, the teams have to change their sides. Law 7 : Method of Scoring (a) The winner A goal shall be scored when the whole of the ball passes over the goal line. The winner of a game shall be decided on the basis of the number of goals scored. (b) The tiebreaker In the event of a tie after the second half, the winner will be decided by the sudden death scheme. The game will be continued after a 5 minutes break, for a maximum period of three minutes. The team managing to score the first goal will be declared as the winner. If the tie persists even after the extra 3 minutes game, the winner shall be decided through penaltykicks. Each team shall take three penaltykicks, which differs from Law 11 as only a kicker and a goalkeeper shall be allowed on the playground. The goalkeeper should be kept within its goal area and the positions of the kicker and of the ball shall be the same as per the Law 11.s whistle, the goalkeeper may e out of the goal area. In case of a tie even after the threetime penaltykicks, additional penaltykicks shall be allowed onebyone, until the winner can be decided. All penaltykicks shall be taken by a single robot and shall mence with the referee39。 The goalkeeper catches the ball with its appendages (if any) in the goal area. 2. Thirty (30) seconds pass after the referee39。 Colliding with a robot of the opposite team, either intentionally or otherwise: the referee will call such fouls that directly affect the play of the game or that appear to have potential to harm the opponent robot. When a defender robot intentionally pushes an opponent robot, a free kick will be given to the opposite team. It is permitted to push the ball and an opponent player backwards provided the pushing player is always in contact with the ball. 2. Attacking with more than one robot in the goal area of the opposite team shall be penalized by a goal kick to be taken by the team of the goalkeeper. A robot is considered to be in the goal area if it is more than 50% inside, as judged by the referee. 4. It is referred to as handling, as judged by the referee, when a robot other than the goalkeeper catches the ball. It is also considered as handling, if a robot firmly attaches itself to the ball such a way that no other robot is allowed to manipulate the ball. 6. Giving a goal kick to the team of the goalkeeper will penalize the intentional blocking of a goalkeeper in its goal area. 8.s permission. 9. A robot has to be changed. 2. A goal is scored or a foul occurs. 4.s whistle all robots can start moving freely. Law 11 : PenaltyKick (Appendix 4) A penaltykick will be called under the following situations. 1. Failure on the part of a goalkeeper to kick out the ball from its goal area within 10 seconds (Law .). 3.s permission, while the game is in progress (Law .). 4.16