MiroSot (Micro Robot Soccer Tournament) is the oldest and best-known FIRA league. The robots are small cubes moving at high speed — no arms, no legs, just wheels, motors and a cube body.
System architecture
MiroSot follows the same logic as the RoboCup Small Size League:
- An overhead camera sees the whole field, the robots and the ball.
- An off-field computer processes the image, extracts positions and decides.
- A wireless transmitter sends wheel-speed commands to each robot.
Your team's "brain" is a computer program; the robots simply execute. Divisions run with different team sizes, from three-a-side upward.
Three layers to build
1. Vision
Fast, accurate detection of the identification colours on robots and the orange ball under variable hall lighting. One wrong frame corrupts every decision downstream. On-site colour calibration is the most important job of day one.
2. Motion control
Getting from A to B without spinning and wasting time. Angle and speed control with visual feedback (visual servoing) is the heart of this layer.
3. Strategy
Role assignment (striker, defender, keeper), ball trajectory prediction, space coverage and pass-or-shoot decisions. Serious teams implement human football tactics here.
Why MiroSot teaches well
Because it engages all three pillars of robotics at once: perception (vision), decision (strategy) and action (control). And because the robot hardware is relatively simple, most of the team's effort goes into software — where the real learning happens.
Where to start
Practical advice: before building any robot, write and test the strategy in SimuroSot, the fully simulated version. Many successful MiroSot teams do exactly that — mature the code in simulation, then port it to real hardware.
Frequently asked questions
Are MiroSot robots autonomous?
They take commands from an off-field computer, but no human decides during play — the system as a whole is autonomous.
What do you need to start?
Machine vision (typically OpenCV), C++ or Python, and cube robots with a wireless link. The software side can be prepared in simulation first.
How does it differ from RoboCup Small Size?
The architecture is similar; the differences are robot dimensions, field size, team size and rule details — and they run under different federations.
Want to compete in MiroSot?
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