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The most familiar spherical polyhedron is the soccer ball, thought of as a spherical truncated icosahedron. The next most popular spherical polyhedron is the beach ball, thought of as a hosohedron. Some "improper" polyhedra, such as hosohedra and their duals, dihedra, exist as spherical polyhedra, but their flat-faced analogs are degenerate.
The ball and all players are represented as circles on the plane of the field. Their position is restricted to the two dimensions of the plane. SimSpark, the platform on top of which the 3D simulation sub-league is built, was registered with SourceForge in 2004. [5] The platform itself is now well established [6] with ongoing development. [7]
3D model of a truncated icosahedron In geometry , the truncated icosahedron is a polyhedron that can be constructed by truncating all of the regular icosahedron 's vertices. Intuitively, it may be regarded as footballs (or soccer balls) that are typically patterned with white hexagons and black pentagons.
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The RoboCup 3D Simulated Soccer League allows software agents to control humanoid robots to compete against one another in a realistic simulation of the rules and physics of a game of soccer. The platform strives to reproduce the software programming challenges faced when building real physical robots for this purpose.
Two teams of six robots which are limited to an 18 cm diameter and 15 cm height play soccer with an orange golf ball. They are identified and tracked by four overhead cameras connected to an off-field computer. The field size is 9metersx6meters. Then robots' and balls' status including their position and id are sent to teams' computers.
An official FIFA approved ball is used in matches, and rules with respect to tackles and controlling the ball apply to robot soccer similar to their equivalent rules in human soccer. Modifications with respect to the FIFA rulebook are the field dimensions, which are reduced to 12 m by 18 m, and the number of players per team, which is five in ...
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