Each two minute match began with the 24″ x 48″ field broken up into 5 zones. Four robots started on the playing field and were paired in alliances of two. There were two robots at diagonally opposite corners, 10 soccer balls in each driver station area, 20 soccer balls centered along each side of the field, and three moveable goals weighing  approximately 130 lbs each in the center zone. Robots raced around the playing field trying to gather balls, place them into goals, place the goals in their scoring zone, and return their robot to their starting zone before the two minutes elapsed.