RoboCup MSL : history, accomplishments, current status and challenges ahead

The RoboCup Middle-Size League (MSL) is one of the founding leagues of the annual RoboCup competition. Ever since its birth it has been a league where development of hard- and software happens simultaneously in a real-world decentralized multi-robot soccer setting. Over the years the MSL achieved scientific results in robust design of mechatronic systems, sensor-fusion, tracking, world modelling and distributed multi-agent coordination. Because of recent rule changes which actively stimulate passing, matches in RoboCup MSL have become increasingly appealing to a general audience. Approximately five thousand spectators were present during last years final match. In this paper we present our plan to build on this momentum to further boost scientific progress and to attract new teams to the league. We also give a historical overview and discuss the current state of the MSL competition in terms of strengths, weaknesses, opportunities and threats.