[robocup-small] New Penalty Shoot-Out format

[Alexander Danzer]

Dear Small Size League,

The penalty shoot-out procedure will be changed for the upcoming RoboCup 
2017.
In the new format, the attacker is further away from the goal, but is 
allowed
to touch the ball multiple times. It is inspired by ice hockey penalties 
and
was also tried in soccer by the MLS[1]. This change stems from the 
experience
that penalty shoot-outs tended to not be decided after the 5 initial 
shots per team.
In the old format (which will still be used for penalty shots during 
regular game time)
the probability of scoring is very high, because defending is nearly 
impossible
if the attacking robot acts quick and precisely. Furthermore, the new 
format
should open up a new AI problem to tackle.
Thanks to Juan Pablo Mendoza for the proposal.

According to the current proposal, rule A.2.2. will be changed to the 
following:

During the penalty shoot-out, a maximum of 1 robot per team is on the 
field in order to
avoid interference. Both teams alternately attempt to score a goal until 
each
team has performed 5 attempts. If a decision is reached for one team, 
the attempts are stopped by the
referee. For each attempt, the defending goalie starts in a position in 
which it is touching the goal line.
The ball is located 6 meters away from the defending goal line, measured 
perpendicularly from the center of the goal.
The attacking robot has 10 seconds to score on the opponent's goal.
After 10 seconds or when the ball leaves the field, the attempt is 
marked as a no-goal.
In the event of a rule infraction as described by the rules of Law 12, 
the attempt is repeated.
In the case of a repeated infraction of the defending team, a goal is 
awarded to the attacking team.
In the case of a repeated infraction of the attacking team, the attempt 
is marked as a no-goal.
Robots may be exchanged between the kicks following the interchange 
rules of Law 3.
As switching sides would cost too much time and would force the teams to 
touch their systems both goals are used.

Please experiment with the new shoot-out format and let us know if you
have feedback or see any problems.

Best,
Alexander Danzer

[1]: https://www.youtube.com/watch?v=RRITqS6WEn0