BuGa 2023: Conclusion

As the tournament at the Bundesgartenshow (BuGa) is now coming to an end and we have secured an excellent second place, we’d like to take a moment to reflect on our journey.

Compared to the RoboCup 2023 in Bordeaux, we were able to significantly improve our performance with the new robots: The radio communication issues have been completely resolved, and our robots executed their driving commands as precisely as they haven’t in years. This clearly demonstrates the advantage of robust industrial solutions like the HBC radio system compared to our previous custom solutions.

The motor board problems have also nearly disappeared as a result. The theory here is as follows: When our robots don’t receive radio signals, they shut down all wheel modules as a safety measure to avoid being a hazard to people and themselves. However, this also results in an abrupt shutdown of all wheel motors, and the remaining current circulating through them, due to the electrical principle of inductance, which dictates that current through electric motors cannot cease instantaneously, can lead to defects in the Motor Controller Boards.

So, when we have radio communication issues, the modules are regularly and unexpectedly shut down. When everything works smoothly, the activation and deactivation maneuvers are carefully controlled at the beginning and end of a game: The motors are brought to a halt by the AI, and then the modules are shut down.

Aside from these two issues, the new robots required very little maintenance—compared to their predecessor generation as well. Only some motor connectors showed problems on the board side: It seems that the through-hole connections of the pads are breaking, causing the power lines on the Power Distribution Board to detach from the motor. We were able to prove this through resistance measurements.

Since we also had problems with our shooting board (same PCB manufacturer)—back then, the solder mask had peeled off from almost all traces at certain spots—we seriously need to consider switching to a different PCB manufacturer.

Nevertheless, it was an excellent tournament that reinvigorated not only our robots but also the spirits of many team members. The enthusiasm is clearly noticeable among all the present members. The positive developments of the other teams since the RoboCup—especially RoboTeam Twente, whose performance improved drastically over the last month—have further fueled our members’ motivation. And so, after the final match, we actively joined the other teams in dismantling the tournament.

We are already looking forward to competing against all the amazing teams at the next European event. It was a pleasure playing against them this weekend. And so, we bid you a heartfelt farewell from the BuGa!

BuGa 2023: Game Schedule

Group Stage (Saturday, 12.08.2023)

Points Table

Platz Team Spiele Punkte Torverhältnis
1 TIGERs Mannheim 3 9 21:0 21
2 ER-Force 3 6 13:1 12
3 Immortals 3 3 3:20 -17
4 RoboTeam Twente 3 0 0:16 -16


Time Match Article Stream Final Score
10:00 AM ER-Force vs. TIGERs Mannheim Article 00:01
11:30 AM Immortals vs. TIGERs Mannheim Article 00:10
01:00 PM ER-Force vs. RoboTeam Twente Article 03:00
02:30 PM ER-Force vs. Immortals Article 10:00
04:00 PM TIGERs Mannheim vs. RoboTeam Twente Article 10:00
05:30 PM RoboTeam Twente vs. Immortals Article 00:03

Knockout Stage (Sunday, 07.07.2023)

Time Match Article Stream Final Score
11:00 AM TIGERs Mannheim vs. RoboTeam Twente Article 10:00
12:30 PM ER-Force vs. Immortals Article 01:00
14:30 Uhr TIGERs Mannheim vs. ER-Force Article Livestream 03:00

BuGa 2023: TIGERs Mannheim vs. RoboTeam Twente

After the group stage concludes with the last game between Immortals and RoboTeam Twente on Saturday evening, today’s day begins with the first semifinal match between the first and fourth-placed teams: TIGERs Mannheim vs. RoboTeam Twente.

Without wanting to speculate too much, we already assume that TIGERs Mannheim will easily win against RoboTeam Twente. Yesterday, the Mannheim team pretty much dominated our friends from the Netherlands, so everyone expects a very one-sided game.

First Half

05:00 The game will be kicked off soon.
05:00 As has become usual, this game is also starting with a delay. The time is being filled for the spectators by explaining the robots and the rules.
05:00 With an 8-minute delay, it’s finally underway. TIGERs in blue, RoboTeam Twente in yellow.
04:44 First shot on goal by TIGERs, but it doesn’t hit the target yet.
04:14 Well defended by the Twente goalkeeper! That could have been the first goal of the day, but the Dutch goalkeeper shines once again. However, there are problems with Twente outfield players touching the robot in their penalty area.
04:08 Now, however: TIGERs takes a shot, and it’s a goal! The score is now 1:0!
TIGERs Mannheim 1 : 0 RoboTeam Twente
03:35 Beautiful passing by TIGERs in Twente’s half. You can tell that they have excellent ball control and precision in their passes. Eventually, TIGERs is rewarded: 2:0 for Mannheim!
TIGERs Mannheim 2 : 0 RoboTeam Twente
03:00 After some discussions about a penalty for TIGERs and a ball placement by RoboTeam Twente, unfortunately, the Dutch player messes up the shot, and TIGERs gains the upper hand. Naturally, Mannheim doesn’t waste time and increases the lead to 3:0!
TIGERs Mannheim 3 : 0 RoboTeam Twente
02:33 And another goal by Mannheim right away! The game is primarily taking place in the Dutch half, but it’s good to watch.
TIGERs Mannheim 4 : 0 RoboTeam Twente
02:16 With full commitment, the players from RoboTeam Twente are doing everything to keep the ball away from the goal, even if they have to commit a foul to do so. This makes the game quite watchable, as it’s not a complete blowout.
01:56 The Dutch can defend well for a long time, with several attempts on their goal. But in the end, the Mannheim team manages to get past the goalkeeper and convert a shot into a goal! Twente is now also replacing a robot.
TIGERs Mannheim 5 : 0 RoboTeam Twente
01:31 It might sound like a massacre here, considering that TIGERs now extends the lead to 6 goals. Nevertheless, the Dutch are doing very well. While they can’t break through in attack against TIGERs, they’re doing their human—or rather, robot—best to keep the goal safe. Definitely the best game from RoboTeam Twente this year!
TIGERs Mannheim 6 : 0 RoboTeam Twente
01:14 Still, it’s as it is: a game against the world champions. And so, TIGERs directly increases the lead to 7 goals!
TIGERs Mannheim 7 : 0 RoboTeam Twente
01:05 Correction: 8-goal lead.
TIGERs Mannheim 8 : 0 RoboTeam Twente
00:40 The Twente robots position themselves well in the shooting lanes of the Mannheim team, making it not so easy for them to get a good shooting angle. Sometimes, they even lose the ball, but eventually, another goal for Mannheim! Now they’re only one away from ending the game early in this half.
TIGERs Mannheim 9 : 0 RoboTeam Twente
00:20 Ghost goal for Twente! Although the ball, along with the entire RoboTeam Twente, is actually in the half of TIGERs Mannheim and even in front of the goal, there was definitely no shot on it, just a small skirmish with a few crashes. Nevertheless, a goal in Mannheim’s goal was briefly recognized, and as a result, the AI referee briefly decided it was a goal for Twente! But of course, only briefly.
00:14 Indeed! 14 seconds before the end, TIGERs finally manages to score the tenth goal of the game and thus end it early.
TIGERs Mannheim 10 : 0 RoboTeam Twente
00:00 With that, TIGERs advances to the final as expected, and unfortunately, Twente is eliminated from the tournament. Nevertheless, there’s no reason to be sad: The improvement of the Dutch undoubtedly culminated in this game, which was also very short, lasting only 20 minutes!

RoboCup 2023: RoboTeam Twente vs. Immortals

And now the last game begins: RoboTeam Twente vs. Immortals. Yes, you heard it right: Immortals made it to the tournament!

About an hour after their arrival, Immortals now have the chance to show what they’re capable of. If Immortals win the game, they will face us in the semifinals tomorrow at 12:30 PM; otherwise, we won’t have an official match against them during the tournament.

First Half

05:00 The game starts with a delay of about 10 minutes. Twente plays as the blue team in a purple and white kit, while Immortals is the yellow team in their classic black kit.
04:21 Immortals has already received a yellow card for three consecutive fouls, reducing them to play with only 5 robots. Currently, there are only 4 robots on the field for Immortals. The ball moves from one half to the other, but it’s mostly in Twente’s half.
04:00 After the Immortals robot pushed the ball into Twente’s penalty area and touched it there (which, as we know from Twente, is a foul), one of the Twente bots loses its topping: blind and without a color pattern, it stands on the field, and the game is stopped.
04:00 Immortals takes a timeout. They don’t seem as strong as in the RoboCup, but it’s worth noting that the Iranian exiled team hasn’t had much time to adapt their robots to the BuGa playing environment.
04:00 By now, Immortals has received two yellow cards, so they’re left with a maximum of 4 robots on the field. Both yellow cards still have nearly their full 2 minutes on the clock, mostly due to crashes.
03:54 Now a yellow card for Twente as well. Surprisingly, this also affects the Dutch since they previously had all 6 robots on the field.
03:18 Lack of Progress between a Twente and Immortals bot. Well, the Twente bot didn’t even move and was consequently taken out of the game.
03:14 Presumed goal for Immortals, but the ball is moving at a noteworthy speed of 7.1 m/s, which is significantly above the allowed 6.5 m/s.
03:14 So far, this game has been the toughest of all, as there’s no flow due to the many fouls, despite the absence of an out rule. Admittedly, this was also the most challenging team pairing during the RoboCup.
02:12 Two more fouls by Immortals, as the ball’s speed was again too high at 7.2 m/s and 7.1 m/s. It’s a shame because the second shot was on target. It must be mentioned in their defense that Immortals hasn’t had time to calibrate their robots for this playing environment.
01:39 After a short Cola-kisses-Orange session (Immortals’ version of ball placement), the game continues, with both teams officially back to 6 robots. However, currently, there are only 3 Twente bots and 4 Immortals on the field.
-01:00 The last two and a half minutes were quite watchable, with the ball moving consistently across the field. However, attacks were primarily directed at the Dutch goal, but the goalkeeper managed to keep it solid until the end. He’s the standout robot for Twente in this game, as most others are just motionless on the field.
00:00 The first half ends with a game interruption, tied, and we’ll see you in five minutes for the second half.

Second Half

05:00 The second half starts right away. Twente now has 5 robots, just like Immortals.
04:47 Immortals immediately with a hot attack on the goal. The ball ends up in the net, but it exceeded the maximum allowed height of 15 cm before entering the goal, so the goal doesn’t count. Balls are not allowed to exceed a certain height when entering the goal, as otherwise, the opposing goalkeeper wouldn’t have a chance to defend it.
04:08 A missed chance for Immortals. Even though their robot had the ball right in front of them and at the edge of the Dutch penalty area, it didn’t take a shot. Instead, it gave the goalkeeper and a defender enough time to defuse the situation.
03:56 Another successful shot by Immortals on the second attempt: after the first shot didn’t work, a second robot takes another shot and scores. However, there’s a debate about this goal as well: if the goalkeeper touches the ball and successfully shoots it back forward, attackers are allowed to take a new shot. However, if the ball continues moving towards the goal despite hitting the goalkeeper, meaning it only rebounds off the goalkeeper, a second shot is not allowed. Whether the relevant angle of 90°, which separates these two cases, has been reached or not, is currently being discussed. Decision: No goal, the angle was greater than 90°.
03:23 However, this time, Immortals finally manages to score the deserved goal. Relatively unspectacularly, one of their robots drives towards the goal while the Dutch defense stands still!
RoboTeam Twente 0 : 1 Immortals
03:18 Twente still can’t seem to manage proper kick-offs. Instead of kicking the ball, the robot pushes it a lot. According to the rules, the player is not allowed to touch the ball more than once consecutively after the kick-off. As a result, there’s now a yellow card for Twente, leaving them with 5 robots, while Immortals still has 5 as well.
01:48 By now, there are already two yellow cards for Twente and one for Immortals. However, this only truly affects Twente since Immortals already has no more than 5 robots.
01:26 Finally, something interesting is happening again, as most of the past hour wasn’t very exciting: Goal for Immortals.
RoboTeam Twente 0 : 2 Immortals
01:08 Actually, the pace is picking up a bit, another valid goal by Immortals!
RoboTeam Twente 0 : 3 Immortals
-00:08 The game ends with a robot melee in Immortals’ half, but nothing comes of it, and the game ends 3:0 for Immortals.
00:00 This game certainly wasn’t pleasant to watch, and it was definitely the most challenging of the entire tournament so far. While the sidelines generally significantly enhance the entertainment value of the games, it wasn’t enough to make this match enjoyable. However, thanks to the victory, we now have the opportunity to play against Immortals tomorrow.

BuGa 2023: TIGERs Mannheim vs. RoboTeam Twente

Soon the fifth and penultimate game of the day between TIGERs Mannheim and the Dutch team RoboTeam Twente will start. To be honest, we’re expecting a massacre with a clear victory for Mannheim.

First Half

05:00 Once again, the game is delayed by a few minutes, but this is hardly noticeable as the president of DHBW Mannheim gives a brief speech and introduction to the SSL League and our robots. It’s evident that he’s well-versed in the subject matter, and the introduction to our league and its challenges was very knowledgeable.
05:00 And again, the game starts with a timeout for Twente, but TIGERs gracefully passes the time with some dances, songs, and maneuvers, much to the delight of the spectators.
05:00 With about fifteen minutes, the game is finally kicked off, with TIGERs having the kickoff as the blue team.
04:49 Things heat up immediately, and TIGERs scores a goal, but apparently, the Dutch have luck on their side, as one of their robots touches the ball in their own penalty area just before it rolls into the goal, nullifying the goal.
04:39 Another strong situation in Twente’s penalty area, but once again, the Dutch have luck. However, this luck is unlikely to last forever.
04:20 This time, though! At first, it seems like bad luck as TIGERs loses the ball. But they quickly clear the situation in their favor and finish with a shot on goal. Initially, the goalkeeper seems to save, but then he turns the ball into his own goal!
TIGERs Mannheim 1 : 0 RoboTeam Twente
03:54 And again! Another goal directly by TIGERs Mannheim, making it 2:0 now!
TIGERs Mannheim 2 : 0 RoboTeam Twente
03:03 Another hot shot, but one of the Dutch robots clears through a foul: He positions himself in the defense area and defends with his body.
02:57 However, the defense doesn’t hold for long, another goal by TIGERs!
TIGERs Mannheim 3 : 0 RoboTeam Twente
02:25 The Twente goalkeeper, the strongest man on the team. He can actually prevent goals quite confidently, even though he may face minor mistakes and the dominance of TIGERs, he won’t see the sun in the long run.
01:42 Good ball exchanges and nice duels, mostly in Twente’s half. But in the end, as in most of this game, it happens: a goal for TIGERs!
TIGERs Mannheim 4 : 0 RoboTeam Twente
01:09 Now TIGERs steps up! Another goal by the Mannheim team!
TIGERs Mannheim 5 : 0 RoboTeam Twente
00:48 And again… a goal for TIGERs, the celebrated devastation is in full swing, the team firmly in the grip of the Tiger’s jaws.
TIGERs Mannheim 6 : 0 RoboTeam Twente
00:11 For a while, the ball was even in Mannheim’s half, but then, as always, it goes as expected: TIGERs can regain possession of the ball and tighten the noose even further. Eventually, TIGERs increases the lead to 7 goals.
TIGERs Mannheim 7 : 0 RoboTeam Twente

Second Half

05:00 The second half starts directly with a penalty for TIGERs, as it seems Twente committed a foul at the end of the first half (again, a Twente robot touched the ball in the penalty area).
04:53 And TIGERs naturally converts the penalty, extending their lead to 8 goals.
TIGERs Mannheim 8 : 0 RoboTeam Twente
04:37 And immediately, the next goal. Now only one more is needed to end the game prematurely.
TIGERs Mannheim 9 : 0 RoboTeam Twente
04:14 And with that, the game ends prematurely: TIGERs scores the last goal of the match and secures the top spot in the group.
TIGERs Mannheim 10 : 0 RoboTeam Twente