One of the biggest challenges for 2013 will be a change in the rules. In the past we played with one yellow and one blue goal. So if, for example, our robot’s goal was yellow, they only shot the ball into the blue goal. In the process of approaching “normal” soccer rules, the blue goal will be replaced by a yellow goal starting in 2013. This means that the robots now need to be always aware of what their own goal is. Therefore we will place even more focus on the self-localization in the coming months. For the beginning, we have built a second yellow goal to replace the blue one.