[robocup-nao] Question about goalie and game stuck

Somchaya Liemhetcharat som at ri.cmu.edu
Fri May 6 15:53:35 EDT 2011


If the ball is between the goalie and the attacker, the attacker is allowed
to "fight" for the ball (see section 4.9.3). If the ball is in front of the
goalie, but not within its convex hull so it cannot be called for ball
holding, then the attacker should be able to kick the ball without much
problems (with regards to pushing).

Furthermore, if the goalie is not blocking the view of the ball (e.g., the
ball is in front of the goalie, and the goalie is in front of the goal),
even if the goalie is not actively clearing the ball, it should not be a
game-stuck situation; I would argue that the goalie is doing a good job at
preventing a goal from being scored, and the onus is on the offensive team
to score the goal while the defensive team cannot interfere (and the goalie
is effectively an obstacle to go around).


On Fri, May 6, 2011 at 9:13 AM, Paul Schütte <
schuette at informatik.hu-berlin.de> wrote:

> Hi there,
> I have a question regarding the current (2011) rules for RoboCup SPL.
> It is about local game stuck and the goalie. Imagine the following
> situation:
> A goalie in his own penalty area is the closest to the ball (lets say
> distance to ball about 0-5cm but ist not holding the ball!) and an
> opposing attacker is also close to the ball and trying to kick it, but
> since avoiding pushing (or because he is just unable) he can not hit the
> ball. This would be a classical game stuck situation, since the goalie is
> not doing anything but preventing a goal. The question is: who would be
> removed in such a case? Is it the goalie (because beeing closest to the
> ball) or is it the striker because he is impeding other players to see the
> ball and the goalie to do something with the ball? We had a discussion
> about this and came to no general solution on this except to say this is a
> global game stuck. Because removing the goalie would mean that a goal
> would occure (that maybe would not be "as little intervention as possible"
> any more as described in the rules) and removing the field player would be
> against the rules of a local game stuck...
> Any ideas on this? I ask this because it is important for the goalie´s
> behavior: is he allowed to stay in front of the ball being the closest
> player and do "nothing" but preventing passively the ball from getting
> into its own goal?
> Thanks and greetings,
> Paul
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