“By the middle of the 21st century, a team of fully autonomous humanoid robot soccer players shall win a soccer game, complying with the official rules of FIFA, against the winner of the most recent World Cup”, that is the ultimate goal of the RoboCup soccer competition. However, to achieve this a lot still needs to happen. To get there, the RoboCup is divided into three main leagues: humanoid, middle-size and small-size, with each their own challenge. ...