RoboCup-SSL / ssl-rules

Official RoboCup Small Size League Rule Book

https://robocup-ssl.github.io/ssl-rules/

GNU General Public License v3.0

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Automatic Robot substitution #73

Closed g3force closed 3 months ago

g3force commented 5 months ago

Current procedure

(1) The robot is at least partially inside the field margin.
(2) The robot is at a distance from the halfway line that must not exceed 1 meter.
(3) The ball must be at least 2 meters away from the halfway line.

Issue

Point (3) can result in a deadlock:

If the ball is within 2 meters to halfway line, robots may not be taken out
If a team has too many robots on the field due to a yellow card, without any intermediate STOP, there is no chance to interchange robots automatically

Proposed changes

(3) The ball must be at least 0.5 meters away from the robot.