Team Singapore @ RoboCup 2015

Congratulations! Team Singapore RoboCup2015 World Championship has been successfully held in Hefei,...

Team Singapore @ RoboCup 2013

Congratulations! Team Singapore RoboCup 2013 World Championship has been successfully held in Eindh...

RoboCup 2010

Singapore has successfully hosted RoboCup 2010.

Home About RoboCup Competitions RoboCupSoccer Simulation League

Simulation League

Without the neccessity to maintain any robot hardware, the RoboCup Simulation League's focus comprises artificial intelligence and team strategy.

2D Simulation League

In 2D Simulation League two teams of eleven autonomous software programs (called agents) each play soccer in a two-dimensional virtual soccer stadium represented by a central server, called SoccerServer. This server knows everything about the game, i.e. the current position of all players and the ball, the physics and so on. The game further relies on the communication between the server and each agent. On the one hand each player receives relative and noisy input of his virtual sensors (visual, acustic and physical) and may on the other hand perform some basic commands (like dashing, turning or kicking) in order to influence its environment.

2D Simulation League


The big challenge in the Simulation League is to conclude from all possible world states (derived from the sensor input by calculating a sight on the world as absolute and noise-free as possible) to the best possible action to execute. As a game is divided into 6000 cycles this task has to be accomplished in time slot of 100 ms (the length of each cycle).


Further information and the SoccerServer software can be accessed via

3D Simulation League

The 3D simulation competition increases the realism of the simulated environment used in other simulation leagues by adding an extra dimension and more complex physics. At its beginning, the only available robot model was a spherical agent. In 2006, a simple model of the Fujitsu HOAP-2 robot was made available, being the first time that humanoid models were used in the simulation league. This shifted the aim of the 3D simulation competition from the design of strategic behaviors of in playing soccer towards the low level control of humanoid robots and the creation of basic behaviors like walking, kicking, turning and standing up, among others.

In 2008, the introduction of a Nao robot model to the simulation gave another perspective to the league. The real Nao robot from Aldebaran robotics will be the official robot for the standard platform league in 2009, and using the same model for the simulation competitions represents a great opportunity for researchers wanting to test their algorithms and ideas before trying them into the real robots. The interest in the 3D simulation competition is growing fast and research is slowly getting back to the design and implementation of multi agent higher level behaviors based on solid low level behavior architectures for realistic humanoid robot teams.

3D Simulation League

3D Development

The 3D Development competition (3DD) represents an opportunity for researchers and passionate programmers to create tools for the 3D simulation and improve the soccer server 3D. Any idea that aims to increase the quality of the current code, any plug-in for adding functionality to the server or any software for supporting the development and making the debugging and testing of 3D agents easier is welcome. If you have an interesting idea for the 3D simulation league, this is the place to show it to the world.


The official rules for the RoboCup Simulation League competition 2009 are at the moment discussed. They will be released as soon as they have been decided on.

For the moment please refer to the official rules of past years:

Soccer Simulation - Official Rules 2010 (pdf)