2024 FIRST Global Challenge –

Feeding the Future Robotics Challenge

Game Manual
Translated versions: Links coming soon

UPDATES
Date Changes Made

26 June 2024 Original release

CONTENTS

1. INTRODUCTION 2
1.1. About FIRST® Global 2
1.2. The 2024 FIRST Global Challenge – Feeding the Future Robotics Challenge 2
1.3. Conventions and Updates 2
1.4. Translations 3
1.5. Question and Answer System 3
1.6. Conduct Guidelines 3
2. THE GAME 3
2.1. Game Description 3
2.2. Playing Field 4
2.3. Game Pieces 7
3. HOW TO PLAY AND SCORING 8
3.1. Overview 8
3.2. Regional Alliance Element 8
3.3. Global Alliance Element 9
3.4. Coopertition® Bonus 11
3.5. Scoring Summary 11
4. GENERAL MATCH AND GAME-SPECIFIC RULES 12
4.1. Overview 12
4.2. Violations 12
4.3. General Match Rules 13
4.4. Game-Specific Rules 17
5. THE ROBOT 20
5.1. Overview 20
5.2. Robot Design and Construction Rules 20
6. THE TOURNAMENT STRUCTURE 23
6.1. Overview 23
6.2. Practice Matches 23
6.3. Ranking Matches 23
6.4. Alliance Selection 23
6.5. Playoff Matches 24
6.6. Final Matches 25
6.7. Tournament Rules 25
6.8. Awards 26
7. SKILLS CHALLENGE 26
8. GLOSSARY 26

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 1
1. INTRODUCTION

1.1. About FIRST® Global

FIRST® Global organizes a yearly international robotics challenge to ignite a passion for science, technology,
engineering, and mathematics (STEM) among the more than two billion youths across the world. By bringing these
future STEM leaders together in an engaging and collaborative competition that drives home the importance,
excitement, and applicability of STEM education, FIRST Global inspires students to learn the skills they will need to
make the discoveries their parents and grandparents would consider miracles, impossibilities, or just plain science
fiction.

FIRST Global also strives to convince the various governments and organizations of the world to embrace science,
technology, engineering, and mathematics (STEM) education, and to support it by investing in their young adults that
will soon begin to make their marks in the world.

Themed around the greatest challenges facing our planet, including the 14 Grand Challenges for Engineering identified
by National Academy of Engineering, each year a different challenge takes center stage in an effort to foster
understanding and cooperation among the youth of the world as they use their abilities to solve the world’s problems.

Participation in FIRST Global is about more than just robots. As participants learn to find solutions to the world’s
greatest challenges – water, energy, security, medicine, food, climate, and education – they learn how to work with each
other, trust each other, and become part of a truly global community.

More information about FIRST Global, including contact information and links to social media, can be found on the
FIRST Global website.

1.2. The 2024 FIRST Global Challenge – Feeding the Future Robotics Challenge
Sustainable food production is one of the defining challenges of the 21st century. Our global food system — which
encompasses producing, processing, distributing, and consuming food — is a complex and interconnected web that is
sensitive to many factors. This year’s theme challenges FIRST Global teams of students from around the world to learn
about and address the obstacles and opportunities to provide the global population with equitable, safe, nutritious, and
environmentally responsible food.

The Feeding the Future Robotics Challenge focuses specifically on the intricate and interdependent relationship
between water, energy, and food systems, and the need to carefully manage and balance these global resources to
support a sustainable food system.

1.3. Conventions and Updates

Key words that have a specific definition in the Feeding the Future Robotics Challenge are indicated in ALL CAPITAL
LETTERS and are defined in the Glossary section of this document.

Comments highlighted in blue boxes provide details regarding warnings, cautions, and notes for a
specific rule. Pay close attention to their content as they provide insight into the reasoning behind a
rule and other helpful information.

Comments highlighted in grey boxes are educational and are intended to provide
additional detail as to how features of the Feeding the Future Robotics Challenge directly
relate to real-life industry and applications.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 2
Any modification to this game manual, including updates or clarifications, will be published in the Updates table on the
cover page of this document. The most recent published version of this game manual is considered to be the official
version. Teams should visit the document periodically to ensure awareness of any changes. Documentation related to
the game can be found at https://first.global/fgc/.

1.4. Translations
The Feeding the Future Robotics Challenge game manual is written in English and translated into other languages. In
the event of any conflict between a translated version of the game manual and the English language version, the
English version as published on the FIRST Global website (at https://first.global/fgc/) is considered the correct and
commanding version.

1.5. Question and Answer System

Teams can ask questions to clarify rules via the Official Rules subcategory on the FIRST Global Forum
(https://forum.first.global) or by submitting them to [email protected]. Remember, only answers provided by FIRST
Global are considered official clarification of rules.

There is a dedicated Question and Answer (Q&A) document to share commonly asked questions about the game and
robot rules, and the official FIRST Global responses. The document is located at https://first.global/fgc/. Answers posted
to the Q&A document by FIRST Global are considered official clarification of rules, thus teams are encouraged to
periodically review updates.

1.6. Conduct Guidelines

The following documents and terms embody the values and behaviors expected of all FIRST Global participants.

The FIRST Global Declaration of Interdependence and Bill of Responsibilities (https://first.global/documents/) represent
the foundational credo of FIRST Global: we are a community dedicated to the cooperative pursuit of a more peaceful
world, achieved by innovating together to ensure the life, liberty, success, advancement, and happiness of all who share
our planet.

Gracious Professionalism® is a way of doing things that encourages high-quality work, emphasizes the value of others,
and respects individuals and the community.

Coopertition® fosters innovation by promoting unqualified kindness and respect in the face of intense competition.

2. THE GAME

2.1. Game Description

The Feeding the Future Robotics Challenge is played on a 7 m by 7 m elevated platform. Six teams compete with their
ROBOTS on the PLAYING FIELD during the 2 minutes and 30 seconds (2:30) of play, with each MATCH featuring a
different randomized combination of teams.

The objective of the Feeding the Future Robotics Challenge is for two REGIONAL ALLIANCES, each composed of
three teams, to CONSERVE WATER and ENERGY and PRODUCE FOOD. The REGIONAL ALLIANCES then combine
into a single GLOBAL ALLIANCE to SECURE FOOD and BALANCE global resources. GLOBAL ALLIANCES that
achieve a BALANCE with five or more ROBOTS shall receive additional points, known as a COOPERTITION® BONUS.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 3
 Figure 2-1: Feeding the Future Robotics Challenge PLAYING FIELD

2.2. Playing Field

The 7 m by 7 m PLAYING FIELD is elevated approximately 70 cm off the ground and is bounded by the GUARDRAILS,
a system of borders at least 20 cm tall surrounding the PLAYING FIELD perimeter. The PLAYING FIELD is inclusive of
the NEXUS GOALS, RESERVOIR, FOOD WAREHOUSE, RAMP, PLATFORM, and the inward facing surfaces of the
GUARDRAILS. The PLAYING FIELD SURFACE is the horizontal surface bounded by the GUARDRAILS and covered
with a low pile carpet similar to those found in many public or commercial buildings. Any low pile carpet may be used for
practice, and will react in a similar way for game pieces and ROBOTS.

Red and blue ALLIANCE STATIONS, located on opposing sides of the PLAYING FIELD, are where the DRIVE TEAMS
(DRIVERS, CAPTAINS, and HUMAN PLAYERS) stand during the MATCH. The team makeup of the REGIONAL
ALLIANCES in each MATCH is randomly assigned during the 2024 FIRST Global Challenge in Athens, Greece
(referred to as the EVENT). The specific location for each DRIVE TEAM within the ALLIANCE STATIONS is determined
by the REGIONAL ALLIANCE members. DRIVE TEAMS must remain within the boundaries of the ALLIANCE
STATION, which is marked on the floor with gaffer tape and extends outward 150 cm from the edge of the GUARDRAIL.

The REGIONAL ZONES are parallel to the ALLIANCE STATIONS and adjacent to the GUARDRAILS on either side of
the RAMP and PLATFORM. They are 310 cm long and extend 50 cm from the GUARDRAIL and are marked with gaffer
tape on the PLAYING FIELD SURFACE.

PLAYING FIELD drawings and CAD model links coming soon.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 4
 Figure 2-2: Feeding the Future Robotics Challenge PLAYING FIELD Layout

The NEXUS GOALS are boxes of varying height, 38 cm wide by 42 cm deep, open at the top, and made from
polycarbonate and textured high density polyethylene (HDPE). The bottom section of each NEXUS GOAL, separated by
a plate from the upper section, includes a rotating mechanism to release FOOD. There are 24 total NEXUS GOALS,
half colored red and half colored blue for each REGIONAL ALLIANCE, with LED indicators on the top edges. 12
NEXUS GOALS are located near the center of the PLAYING FIELD, and 12 are located below the FOOD
WAREHOUSE.

Figure 2-3: NEXUS GOALS

The RESERVOIR, located between the two sets of NEXUS GOALS and below the FOOD WAREHOUSE, are
rectangular spaces, colored red and blue for each REGIONAL ALLIANCE, and bounded by a raised perimeter. Each
RESERVOIR is 74 cm wide and 74 cm deep, and the perimeter is 22 mm high.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 5
 Figure 2-4: RESERVOIR

The FOOD WAREHOUSE spans the width of the PLAYING FIELD and is above the RESERVOIR and two sets of
NEXUS GOALS. It is 762 cm wide, 76 cm deep, and is made of aluminum. The center of the FOOD WAREHOUSE is
192 cm above the PLAYING FIELD SURFACE, and the outer edges are 225 cm above the PLAYING FIELD SURFACE.
It is open along the top and the outer edges overlap the ALLIANCE STATIONS.

Figure 2-5: FOOD WAREHOUSE

The FORK is a tool supplied to HUMAN PLAYERS to assist with SECURING FOOD in the FOOD WAREHOUSE. There
is one “FORK” in each ALLIANCE STATION. It is made of aluminum and plastic. The overall length is 168 cm.

Figure 2-6: FORK

The RAMP is a tilting platform with hinged, slanted sides. When in a neutral and BALANCED position, the top center
section is parallel to the PLAYING FIELD SURFACE and is 20 cm above the PLAYING FIELD SURFACE. The overall
dimensions of the RAMP (sides plus center section) are 292 cm wide and 75 cm deep. It is made from polycarbonate
and has LEDs on the center section.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 6
The PLATFORM is a stationary elevated surface, 287 cm wide, 75 cm deep, and 20 cm above the PLAYING FIELD
SURFACE. It is made from textured high density polyethylene (HDPE).

Figure 2-7: RAMP and PLATFORM

AprilTags are a system of visual tags that can be used by a ROBOT to determine its position on the PLAYING FIELD.
AprilTags are located on the NEXUS GOALS. AprilTag file link coming soon.

Figure 2-8: AprilTag Locations

2.3. Game Pieces

The game pieces featured in the Feeding the Future Robotics Challenge are inflated playground balls made of a rubber
material and printed with the FIRST Global Logo. During MATCH play, they have an inflated diameter of 275 mm (± 5
mm) and weigh an average of 530 grams each. The game pieces are identical in all ways except for color.

● 12 blue WATER are pre-arranged in each ALLIANCE STATION on racks at the start of the MATCH
● 12 green ENERGY are pre-arranged in each ALLIANCE STATION on racks at the start of the MATCH
● 24 orange FOOD are positioned in the bottom of the NEXUS GOALS, one in each, at the start of the MATCH

Once inflated, game piece diameter should measure in the range of 270 to 280 mm. Game piece inflation will be
checked regularly throughout the EVENT by FIRST Global Field Support staff, who will measure the diameter of each
game piece at two 90-degree offsets. Teams should note that the game pieces are not always perfectly round, and
some variation should be expected.

Figure 2-9: WATER, ENERGY, and FOOD

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 7
3. HOW TO PLAY AND SCORING

3.1. Overview
There are two elements to each MATCH. During the REGIONAL ALLIANCE element, teams work in groups of three, a
REGIONAL ALLIANCE, to CONSERVE WATER and ENERGY. During the GLOBAL ALLIANCE element, all six teams
work together to SECURE FOOD and BALANCE global resources.

A sustainable food system provides nutrition and food security for all people in a way that
does not compromise the economic, social, or environmental dimensions of sustainability.
To achieve this, resources must be carefully managed to accommodate the increasing
demand for water, energy, and food, which is driven by population growth, changing consumption
patterns, conflicts, economic shocks, urbanization, and environmental degradation.

The solutions that will lead us to a sustainable food future without compromising the environment
must be developed from both a regional and global approach.

3.2. Regional Alliance Element

REGIONAL ALLIANCES are made of three randomly assigned teams each, one designated red and the other blue.
DRIVE TEAMS start the MATCH standing in their ALLIANCE STATION.

Understanding food systems on a local, regional, and national level can be the first step to
identifying areas that require investment or technological improvement to create a
sustainable food system. This analysis should encompass a 360-degree review of food
systems, including the production, processing, distribution, and consumption of food.

The REGIONAL ALLIANCE element of each MATCH represents regional collaborations and
intergovernmental partnerships that are formed to identify similarities in food systems, share lessons
learned, explore opportunities for cooperation, and develop best practices for supporting resilient and
sustainable food systems.

ROBOTS start the MATCH on the PLAYING FIELD SURFACE and in contact with the GUARDRAIL adjacent to their
corresponding ALLIANCE STATION. A total of 12 WATER and 12 ENERGY are pre-arranged on racks in each
ALLIANCE STATION prior to the start of the MATCH. One FOOD is positioned in the bottom of each of the 24 NEXUS
GOALS on the PLAYING FIELD.

Teams may preload one WATER or one ENERGY into their ROBOT prior to the start of the MATCH. The MATCH begins
when the announcer says “go”.

The water-energy-food nexus focuses on understanding the delicate relation between

these global resources, as demand for all three increases. Agriculture and food production
consume much of the world’s freshwater resources, while about 30% of energy used
globally is expended on food production and supply. Many forms of energy generation are
water-intensive, such as nuclear and biomass, while some forms of freshwater production require
large amounts of energy, including desalination. The nexus identifies the close correlation between
these three resources, and thus meeting the growing demand for food will require new ways to
carefully manage water and energy.

Each REGIONAL ALLIANCE transfers WATER and ENERGY from the ALLIANCE STATION to the ROBOTS via the
HUMAN PLAYERS. HUMAN PLAYERS can:

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 8
 ● Place WATER and ENERGY on the PLAYING FIELD SURFACE inside the REGIONAL ZONE
○ WATER and ENERGY may not be introduced to the PLAYING FIELD anywhere outside the
REGIONAL ZONE, this includes throwing or rolling a game piece beyond the REGIONAL ZONE
boundary.
● Load WATER and ENERGY onto a ROBOT
○ The ROBOT must be inside the REGIONAL ZONE and in contact with the GUARDRAIL before the
HUMAN PLAYER loads a game piece
○ The HUMAN PLAYER may not touch or contact the ROBOT with anything other than the game piece

ROBOTS then CONSERVE WATER and ENERGY by placing or launching one WATER and one ENERGY into each of
the NEXUS GOALS designated with their REGIONAL ALLIANCE color (red or blue). ROBOTS can also CONSERVE
WATER and ENERGY in the RESERVOIR.

A REGIONAL ALLIANCE earns points for each WATER and ENERGY CONSERVED, provided that the WATER and
ENERGY CONSERVED remain in the NEXUS GOALS and RESERVOIR at the end of the MATCH. WATER or
ENERGY that are not CONSERVED in the RESERVOIR or NEXUS GOALS at the end of the MATCH earn 0 points.

For the RESERVOIR, points are earned at a rate 1 point per WATER and 1 point per ENERGY CONSERVED,
regardless of the quantity of each in the RESERVOIR. The game pieces must be fully within the boundaries of the
RESERVOIR.

For the NEXUS GOALS, each REGIONAL ALLIANCE earns a maximum of 1 point for WATER and 1 point for ENERGY
CONSERVED in a single NEXUS GOAL. For example, a single NEXUS GOAL with:
● One WATER and one ENERGY CONSERVED in a NEXUS GOAL at the end of the MATCH earns 2 points
● Two WATER and one ENERGY CONSERVED in a NEXUS GOAL at the end of the MATCH earns 2 points

By successfully CONSERVING one WATER and one ENERGY in a NEXUS GOAL, a FOOD is PRODUCED and is
released into play, earning the REGIONAL ALLIANCE additional points at a rate of 2 points per FOOD PRODUCED.
FOOD that is not PRODUCED and remains in the NEXUS GOALS at the end of the MATCH does not earn points.
Teams should note there is a slight delay in the automated process (5 to 10 seconds) from when one WATER and one
ENERGY have been CONSERVED to when the FOOD is released.

ROBOTS are allowed to CONSERVE WATER and ENERGY and PRODUCE FOOD until the end of the MATCH.

Only by conserving water and energy can we sustainably produce enough food for a
growing global population. When water and energy are carefully managed in a sustainable
and efficient way, we are rewarded by efficient food production. Conservation of resources
such as water and energy means not only to save, preserve, or restrict their use, but also to protect
them from waste, damage, and destruction.

In the Feeding the Future Robotics Challenge, a REGIONAL ALLIANCE is rewarded most when it
has successfully CONSERVED the right balance of WATER and ENERGY in a NEXUS GOAL.
However, teams can still earn points by preserving these resources in the RESERVOIR.

3.3. Global Alliance Element

All teams on the two REGIONAL ALLIANCES combine into a single GLOBAL ALLIANCE to collect the FOOD that has
been PRODUCED, SECURE it in the FOOD WAREHOUSE, and BALANCE global resources on the RAMP and
PLATFORM.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 9
 As progress is made on a local-, regional-, and national-level to support sustainable food
systems, the world can make use of shared knowledge and experience to improve the
quality of life for all people. The GLOBAL ALLIANCE element of the MATCH represents a
partnership among all nations to promote the advancement and implementation of new technologies
that support a more equitable food system that meets the needs of the present and generations to
come.

At any point during the MATCH, once a FOOD has been PRODUCED and released from a NEXUS GOAL, any ROBOT
can collect it and SECURE the FOOD in the FOOD WAREHOUSE. ROBOTS can:
● Collect FOOD after it has been PRODUCED and directly SECURE the FOOD in the FOOD WAREHOUSE
○ FOOD must be placed in the FOOD WAREHOUSE, it may not be launched by ROBOTS
● Maneuver the FOOD to a HUMAN PLAYER who can then SECURE the FOOD in the FOOD WAREHOUSE
○ The ROBOT can maneuver the FOOD to the REGIONAL ZONE where the HUMAN PLAYER can
retrieve it, provided they do not reach beyond the boundary of the REGIONAL ZONE
○ The ROBOT can carry the FOOD to the REGIONAL ZONE and the HUMAN PLAYER can retrieve the
FOOD directly from the ROBOT, provided the ROBOT is inside the REGIONAL ZONE and in contact
with the GUARDRAIL, and the HUMAN PLAYER does not touch or contact the ROBOT
○ HUMAN PLAYERS must SECURE FOOD in the FOOD WAREHOUSE through the end overlapping
the ALLIANCE STATION only, it may not be placed elsewhere along the FOOD WAREHOUSE or
thrown by HUMAN PLAYERS
○ The FORK can be used to assist this process

Since SECURING FOOD benefits the GLOBAL ALLIANCE, any ROBOT can collect FOOD that comes out of any BIN,
whether red or blue. All six teams on the GLOBAL ALLIANCE earn points for FOOD SECURED in the FOOD
WAREHOUSE at a rate of 2 points per FOOD SECURED and that remains SECURED at the end of the MATCH.

Food security exists when safe and nutritious food is always accessible in sufficient
amounts to all people. The four pillars commonly agreed upon to be the measure of
whether or not food security is realized are availability, access, utilization, and stability.

Availability refers to an adequate supply of food based on production and distribution. Access alludes
to the physical and economic ability to obtain food, which considers affordability and allocation.
Utilization indicates the nutritional content of the food, and whether or not it meets an individual’s
needs. Stability signifies the ability to obtain food over time, through seasonal changes, economic
fluctuations, or other types of instability.

Towards the end of the MATCH, the GLOBAL ALLIANCE BALANCES global resources by positioning the ROBOTS on
the RAMP and the PLATFORM. The total sum of BALANCED ROBOTS at the end of the MATCH equals a BALANCE
MULTIPLIER that is applied to each REGIONAL ALLIANCE’S WATER plus ENERGY plus FOOD PRODUCED points
earned.

The BALANCE MULTIPLIER is cumulative relative to the number of ROBOTS that are BALANCED and fully supported
(directly or indirectly) by the RAMP or the PLATFORM with no component touching the PLAYING FIELD SURFACE. All
ROBOTS solely on the PLATFORM that meet these requirements will earn the BALANCE MULTIPLIER. ROBOTS on or
touching the RAMP only earn the BALANCE MULTIPLIER if the RAMP is BALANCED at the end of the MATCH, as
indicated by the LEDs.

If any obstruction (such as a game piece) is influencing the RAMP to appear BALANCED, when in fact it should not be,
the ROBOTS on or touching the RAMP will not earn the BALANCE MULTIPLIER.

A ROBOT that is “fully supported indirectly” means the full weight of the ROBOT is supported by the RAMP or
PLATFORM structure, even if the ROBOT is not in direct contact with the structure itself. For example, if a ROBOT’S

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 10
weight is transferred to the PLATFORM structure through direct contact with another ROBOT’S mechanism.

The BALANCE MULTIPLIER increases at a rate of 0.2 points per ROBOT successfully BALANCED. Each REGIONAL
ALLIANCE earns the BALANCE MULTIPLIER earned from all six ROBOTS.

Our global food system is a complex and interconnected web that is sensitive to many
factors. There are many moving parts, and interdependencies between limited resources
must be carefully managed. All nations must actively balance global resources in order to
support a sustainable food system that can provide the world with equitable, safe, nutritious, and
environmentally responsible food. In creating this balance, we can ensure that there is a seat at the
table for all people.

3.4. Coopertition® Bonus

The GLOBAL ALLIANCE earns additional points, known as a COOPERTITION® BONUS, if five or more ROBOTS are
BALANCED at the end of the MATCH.
● Five ROBOTS BALANCED = 15 COOPERTITION BONUS points
● Six ROBOTS BALANCED = 30 COOPERTITION BONUS points

The health of the global population and our planet both benefit the most when a majority of
nations build a resilient and equitable food system.

3.5. Scoring Summary

Scoring is consistent through RANKING, PLAYOFF, and FINAL MATCHES. The following tables and equation
summarize MATCH scoring rubric. All fractional scores round up to the nearest whole number. A Google Sheets scoring
calculator is available here. Please make a copy of the calculator file to edit the values.

Table 3-1: WATER and ENERGY CONSERVED Points

Achievement Point Value
Each WATER CONSERVED in a NEXUS GOAL or the
1
RESERVOIR at the end of the MATCH (maximum 12 points)
Each ENERGY CONSERVED in a NEXUS GOAL or the
1
RESERVOIR at the end of the MATCH (maximum 12 points)
Note: These points are earned by the REGIONAL ALLIANCE

Table 3-2: FOOD PRODUCED Points

Achievement Point Value
Each FOOD PRODUCED 2
Note: These points are earned by the REGIONAL ALLIANCE

Table 3-3: FOOD SECURED Points

Achievement Point Value
Each FOOD SECURED in the FOOD WAREHOUSE at the end of
2
the MATCH
Note: These points are earned by the GLOBAL ALLIANCE

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 11
 Table 3-4: BALANCE MULTIPLIER
Achievement Multiplier Value
0 ROBOTS BALANCED 1.0
1 ROBOT BALANCED 1.2
2 ROBOTS BALANCED 1.4
3 ROBOTS BALANCED 1.6
4 ROBOTS BALANCED 1.8
5 ROBOTS BALANCED 2.0
6 ROBOTS BALANCED 2.2
Note: These multipliers are earned by the GLOBAL ALLIANCE and applied to points earned by the
REGIONAL ALLIANCE

Table 3-5: COOPERTITION BONUS Points

Achievement Point Value
Less than 5 ROBOTS BALANCED 0
5 ROBOTS BALANCED 15
6 ROBOTS BALANCED 30
Note: These points are earned by the GLOBAL ALLIANCE

A REGIONAL ALLIANCE’S MATCH score is the sum of:

● Points earned for each WATER and ENERGY CONSERVED plus each FOOD PRODUCED, multiplied by the
BALANCE MULTIPLIER
● Plus FOOD SECURED points
● Plus COOPERTITION BONUS points

4. GENERAL MATCH AND GAME-SPECIFIC RULES

4.1. Overview
This section details the rules and violations associated with MATCH play and the game specifically.

4.2. Violations
The consequences for violating rules are defined below.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 12
 TABLE 4-1: VIOLATIONS
Violation Consequence Details
An official designation assessed to a team for failing to come to a
MATCH with at least a HUMAN PLAYER. In RANKING MATCHES, when
WHITE CARD
a team is issued a WHITE CARD, the team receives 0 points for that
specific MATCH.

An official warning issued to a team for breaking a rule. Additional

YELLOW CARDS may be elevated to a RED CARD at the judgment of
YELLOW CARD
the HEAD REFEREE, depending on the severity and frequency of the
offense.

An official warning plus penalty assessed to a team for breaking a rule.

YELLOW CARD + FOUL issued to teams during the MATCH comes with
a point penalty equivalent to 10% of the offending REGIONAL
ALLIANCE’S MATCH score. The penalty points will be awarded to the
opposing REGIONAL ALLIANCE (rather than deducted from the
YELLOW CARD + FOUL offending REGIONAL ALLIANCE’S MATCH score). Additional YELLOW
CARD + FOULS may be elevated to a RED CARD at the judgment of the
HEAD REFEREE, depending on the severity and frequency of the
offense. A FOUL point penalty is calculated from the pre-penalty MATCH
score. Multiple FOULS assessed to a REGIONAL ALLIANCE during a
single MATCH are cumulative.

An official penalty assessed to a team for repeatedly breaking a rule,

breaking multiple rules, or egregious actions. Generally, a YELLOW
CARD is assessed to a team before a RED CARD, but it is at the HEAD
REFEREE’S judgment to issue a RED CARD based on the severity of
the offense. In RANKING MATCHES, when a team is issued a RED
RED CARD
CARD, the team receives 0 points for that specific MATCH. In PLAYOFF
and FINAL MATCHES, when a team is issued a RED CARD, the full
TOURNAMENT ALLIANCE receives 0 points for that specific MATCH. A
RED CARD MATCH may not be considered as the lowest-scoring
MATCH to be dropped from a team’s overall RANKING score.

DISQUALIFIED A team is no longer allowed to participate in any aspect of the EVENT.

The offending ROBOT is disabled by the HEAD REFEREE during
ROBOT disabled for
MATCH and will no longer be in play. The team with the disabled ROBOT
MATCH
will still earn points for the MATCH.
ROBOT not allowed to The offending ROBOT is not allowed to participate in the MATCH, and
compete the team receives no points for that MATCH.
Must be corrected before The problem must be corrected before the MATCH can start, otherwise
MATCH can start the ROBOT is not allowed to compete in the MATCH.

4.3. General Match Rules

M01 Teams must play the game as written. These rules are written in a simple manner to make them as
accessible as possible. Attempts to gain competitive advantage by employing an unintended method of play
violates the rules and does not meet the spirit of FIRST Global.

Violation Consequence: YELLOW CARD, YELLOW CARD + FOUL, or RED CARD depending on severity of
offense.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 13
M02 Teams must review the FIRST Global Declaration of Interdependence and Bill of Responsibilities and
commit themselves to the values they uphold. All teams are expected to support and demonstrate support
for these goals and expected behaviors in all actions and interactions with all members of the FIRST Global
community, and advocate for compliance with the implied behaviors associated with these documents

Violation Consequence: YELLOW CARD, YELLOW CARD + FOUL, RED CARD, or DISQUALIFIED depending
on severity of offense.

M03 Each DRIVE TEAM may consist of up to four student team members. The maximum allowed DRIVE TEAM
members are two DRIVERS, one CAPTAIN and one HUMAN PLAYER. The minimum required DRIVE TEAM
members are one HUMAN PLAYER, who should come to MATCHES even if the ROBOT is not functioning (see
M07). The DRIVE TEAM, identified by wearable buttons, are the only team members allowed at the PLAYING
FIELD and to set up the ROBOT.

Violation Consequence: Must be corrected before MATCH can start.

M04 DRIVE TEAMS must wear the team shirts provided by FIRST Global, unobstructed, during all RANKING,
PLAYOFF, and FINAL MATCHES. The 2024 team shirts provided by FIRST Global must be worn during the 2
minutes and 30 seconds (2:30) of MATCH play, from when the announcer says “go!” until the MATCH timer
reaches zero (0:00). During this time, these shirts should not be obstructed by any other shirt, jacket, cape,
sash, or other covering.

Violation Consequence: Must be corrected before MATCH can start.

M05 Each team may pre-designate only one HUMAN PLAYER for each MATCH. The DRIVE TEAM member
acting as HUMAN PLAYER must remain in this role through the duration of the MATCH. DRIVE TEAM
members may not substitute roles. HUMAN PLAYERS will be provided with an identifier to designate their role.

Violation Consequence: YELLOW CARD + FOUL.

M06 DRIVE TEAMS must come to the MATCH ready to play. DRIVE TEAMS must come to MATCHES ready to
play, with all their equipment in a condition that will not delay the start of the MATCH. MATCHES are expected
to start promptly. DRIVE TEAMS are not permitted to make repairs or perform complicated set-up or
adjustments at the PLAYING FIELD.

Violation Consequence: WHITE CARD.

M07 DRIVE TEAMS must send at least a HUMAN PLAYER to their scheduled MATCHES to earn points. If a
ROBOT is unable to participate in the MATCH, at least a HUMAN PLAYER representative must come to the
MATCH. MATCHES will not be delayed to wait for a missing team.

Violation Consequence: WHITE CARD.

MATCH schedules are subject to change and may be running ahead or behind the listed times.
Teams are expected to actively monitor which MATCHES are currently playing to ensure they arrive
at their scheduled MATCHES on time.

M08 ROBOTS must display their national flags and REGIONAL ALLIANCE color. At all times during the
tournament, ROBOTS must display their national flag, which will be provided by FIRST Global at the EVENT.
During MATCHES, ROBOTS must display the correct REGIONAL ALLIANCE color (red or blue) via LEDs that
will be connected to the “+5V Power" port on the Control Hub. These LEDs will be distributed at the EVENT.

Violation Consequence: Must be corrected before MATCH can start.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 14
M09 DRIVE TEAMS must start and stop the ROBOT at the right time. ROBOTS must start the MATCH
stationary and in compliance with the starting rules stated in G02 and G03. Controllers may be held by the
DRIVE TEAM with the ROBOT program in the Init state, but the ROBOTS may not move until “go” in the
countdown “three, two, one, go!” ROBOTS must stop moving promptly when the MATCH timer reaches zero
(0:00) by stopping the program on their REV Robotics Driver Hub.

Violation Consequence: YELLOW CARD.

DRIVE TEAMS should maintain an awareness of the MATCH timer, as operating the ROBOT after
the MATCH timer has reached zero (0:00) may cause a YELLOW CARD to be assessed to a team.
Any points earned by a ROBOT after the MATCH ends will not be counted towards the final score.

M10 DRIVE TEAMS must remain in their assigned ALLIANCE STATIONS throughout the MATCH.

Violation Consequence: YELLOW CARD.

M11 Outside communication with the DRIVE TEAM is prohibited during the MATCH. Members of the DRIVE
TEAM are expected to only communicate with other DRIVE TEAMS in their MATCH.

Violation Consequence: YELLOW CARD.

Communication with spotters in spectator areas or via wireless communication means is not allowed.
This rule applies only to strategic or coordinated coaching communication from anyone outside of the
DRIVE TEAM and does not apply to general cheering or support.

M12 DRIVE TEAMS may not contact anything inside of the PLAYING FIELD until LEDs on the NEXUS GOALS
and RAMP indicate that it is safe to do so. DRIVE TEAMS must not reach into the PLAYING FIELD or
contact the WATER, ENERGY, FOOD, or ROBOTS, either directly or indirectly, unless the MATCH has ended
and LEDs are green and indicate that the PLAYING FIELD is safe to enter. This rule applies before, during, and
after the MATCH, and in all situations except those covered by M14, G10, G11, and G15.

Violation Consequence: YELLOW CARD.

M13 DRIVE TEAMS must not directly interact with ROBOTS during the MATCH. The DRIVE TEAM is prohibited
from touching or contacting ROBOTS with the exception of M14.

Violation Consequence: YELLOW CARD.

M14 After the MATCH has started, if a ROBOT has not moved, DRIVE TEAMS may handle their respective
ROBOT within the first 30 seconds of the MATCH. DRIVE TEAMS and specifically designated FIRST Global
Field Support staff can attempt the following corrections to get their ROBOT playing in the MATCH, provided
the ROBOT is in the starting position (see G03).
A. Turn the ROBOT on or off.
B. Plug in the battery.
C. Fix loose wire connections.
Once the ROBOT has moved under its own power, the ROBOT may not be touched by any humans until the
MATCH has ended. DRIVE TEAMS must not touch other ROBOTS, WATER, ENERGY, FOOD, or any part of
the PLAYING FIELD while attempting repair on their immobile ROBOT, as that contact would be considered a
violation of M12.

Violation Consequence: ROBOT disabled for MATCH.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 15
M15 ROBOTS must stay on the PLAYING FIELD. If a ROBOT goes completely out of bounds or appears to have
a high likelihood of violating M17 due to actions outside of the PLAYING FIELD, it will be disabled by the HEAD
REFEREE for the rest of the MATCH. This is not intended to penalize ROBOTS for having mechanisms which
inadvertently and inconsequentially cross the GUARDRAIL by a small amount during normal MATCH play.

Violation Consequence: ROBOT disabled for MATCH.

M16 ROBOTS may not intentionally damage, tip over, or disable other ROBOTS. Strategies which are aimed at
damaging, tipping, or disabling other ROBOTS are not in the spirit of FIRST Global and are not allowed. Teams
are responsible for the actions of their ROBOTS at all times. Driving recklessly is not an excuse for tipping or
damaging another ROBOT. Teams are also responsible for building a robust ROBOT which will not easily tip or
become entangled due to minor contact.

Violation Consequence: YELLOW CARD + FOUL.

Accidental tipping and ENTANGLEMENT may occur and are a part of normal MATCH play, however
intentional or egregious violations as determined by the HEAD REFEREE may result in a RED
CARD. Repeat offenses may result in a team being DISQUALIFIED from the remainder of the
EVENT.

M17 ROBOTS must not be dangerous or damage the PLAYING FIELD, game pieces, other ROBOTS, or
humans. ROBOTS must not damage the PLAYING FIELD, WATER, ENERGY, FOOD, other ROBOTS, or
pose a safety risk to team members, volunteers, or spectators. If the HEAD REFEREE determines a ROBOT is
in violation of this rule, or that a ROBOT has a high likelihood of violating this rule, the ROBOT may be disabled
for the MATCH and must be re-inspected before subsequent MATCHES.

Violation Consequence: ROBOT disabled for MATCH.

ROBOTS must not have sharp edges which could cut someone or damage the PLAYING FIELD,
WATER, ENERGY, or FOOD. DRIVE TEAMS should pay close attention to the interaction of their
ROBOTS with the WATER, ENERGY, FOOD, and the PLAYING FIELD. Large abrasions, holes, or
other damage to the WATER, ENERGY, FOOD, or PLAYING FIELD component violate this rule.

M18 ROBOTS may not grab, grapple, grasp, attach to, hang from, or otherwise be supported by any part of
the PLAYING FIELD unless otherwise explicitly permitted. ROBOTS should not be designed to attach to
any part of the PLAYING FIELD, including the GUARDRAILS, NEXUS GOALS, RAMP, PLATFORM, and
FOOD WAREHOUSE.

Violation Consequence: YELLOW CARD.

This rule is intended to prevent ROBOTS from damaging the PLAYING FIELD, either intentionally or
unintentionally.

M19 Strategies aimed at causing an opponent to violate a rule are not allowed. If a team forces an opponent to
violate a rule, the penalty that would typically be assigned to the opponent will instead be assigned to the
REGIONAL ALLIANCE of the team that forced the violation.

Violation Consequence: YELLOW CARD + FOUL.

M20 Scores are final and there are no replays. All of the volunteers at FIRST Global work hard to provide a fair
and consistent game experience for all teams, but occasionally mistakes may be made. How teams deal with

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 16
 adversity will say as much about their character as how they deal with success. Teams should avoid situations
which could be rule violations and make their scoring actions clear to avoid misunderstandings.

If teams have questions about rules or rulings, there is a designated area near the PLAYING FIELD
where the DRIVE TEAM can wait for the HEAD REFEREE or REV Robotics and discuss the
concern. This discussion is meant to help the team understand the reason behind the rule or ruling,
not for the team to argue for changes to the rule or ruling.

M21 Each team’s single lowest-scoring MATCH will not be included in the team’s total RANKING score. The
exception is if a team’s lowest-scoring MATCH is a MATCH during which a RED CARD was assessed to the
team. In such an instance, the next lowest-scoring MATCH will be dropped from the overall RANKING score.

4.4. Game-Specific Rules

G01 The Feeding the Future Robotics Challenge is intended to be a scoring game. ROBOT actions, intentional
or not, which only serve to prevent the opposing REGIONAL ALLIANCE from scoring or which are outside the
intent of fair and productive MATCH play are not allowed. These actions include but are not limited to:
A. Interfering with the opposing REGIONAL ALLIANCE’S scoring (both the act of scoring and any points
already scored) at any time during the MATCH.
B. Preventing the free movement of one or more of the opposing REGIONAL ALLIANCE’S ROBOTS by
blockading, trapping, or pinning (as determined by the HEAD REFEREE).

Violation Consequence: YELLOW CARD + FOUL.

G02 ROBOTS must start the MATCH within a 50 cm x 50 cm x 50 cm volume. Before the MATCH can start, all
ROBOTS on the PLAYING FIELD must meet this requirement. The national flags and REGIONAL ALLIANCE
colors (as defined in M08) are allowed to exceed this volume constraint.
A. If the problem can be corrected quickly, the HEAD REFEREE will invite a DRIVE TEAM member to fix
the situation for the offending ROBOT.
B. If the problem cannot be corrected quickly, the offending ROBOT will be removed from the PLAYING
FIELD and the MATCH will start without the offending ROBOT.
ROBOTS may extend beyond this size after the MATCH begins, but teams should pay attention to M16 and
G01. ROBOTS that expand must be able to do so independently and may not have detachable parts (see
R04).

Violation Consequence: Must be corrected before the MATCH can start.

G03 ROBOTS must start each MATCH on the PLAYING FIELD SURFACE and in contact with the GUARDRAIL
adjacent to their corresponding ALLIANCE STATION. Some part of the ROBOT must be in contact with the
GUARDRAIL. No other part of the ROBOT may be in contact with any other part of the PLAYING FIELD, or any
other ROBOT. ROBOTS do not have to start the MATCH in the REGIONAL ZONE.

Violation Consequence: Must be corrected before MATCH can start.

G04 FIRST Global reserves the right to adjust the quantity of WATER, ENERGY, and FOOD for the RANKING,
PLAYOFF, and FINAL MATCHES.

G05 ROBOTS and HUMAN PLAYERS may hold an unlimited number of WATER, ENERGY, and FOOD at any
time during the MATCH. Teams may preload one WATER or one ENERGY into their ROBOT prior to the start
of the MATCH.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 17
G06 Damaged WATER, ENERGY, and FOOD will not be counted towards the MATCH score. WATER,
ENERGY, and FOOD that are damaged or deformed during the MATCH will not be added to a REGIONAL
ALLIANCE’S MATCH score.

Violation Consequence: YELLOW CARD, YELLOW CARD + FOUL, or RED CARD depending on severity of
offense.

G07 WATER, ENERGY, and FOOD must remain in the ALLIANCE STATIONS or on the PLAYING FIELD.
WATER, ENERGY, and FOOD are to remain in the ALLIANCE STATIONS or on the PLAYING FIELD or be in
the process of being CONSERVED in the NEXUS GOALS or SECURED in the FOOD WAREHOUSE.

WATER, ENERGY, and FOOD ejected from the PLAYING FIELD will be reintroduced into the
PLAYING FIELD SURFACE by FIRST Global Field Support staff when safe to do so. There is no
guarantee that the WATER, ENERGY, and FOOD will be reintroduced during the MATCH.

G08 HUMAN PLAYERS are the only DRIVE TEAM members allowed to touch WATER, ENERGY, and FOOD.
The pre-designated HUMAN PLAYERS, as defined in M05, are the only DRIVE TEAM members allowed to
handle WATER, ENERGY, and FOOD.

Violation Consequence: YELLOW CARD + FOUL.

G09 DRIVE TEAMS may not adjust the position of the game piece racks in the ALLIANCE STATION.

Violation Consequence: YELLOW CARD + FOUL.

G10 HUMAN PLAYERS may only introduce game pieces onto the PLAYING FIELD inside the REGIONAL
ZONE. WATER, ENERGY, and FOOD can be placed directly into the REGIONAL ZONE or placed in a ROBOT
correctly positioned within the REGIONAL ZONE. WATER, ENERGY, and FOOD may not be thrown or rolled
out onto the PLAYING FIELD SURFACE beyond the REGIONAL ZONE.

Violation Consequence: YELLOW CARD + FOUL.

G11 HUMAN PLAYERS may load and retrieve game pieces into and from a ROBOT and only if the ROBOT is
inside the REGIONAL ZONE, in contact with the GUARDRAIL, and only if the HUMAN PLAYERS do not
touch or contact the ROBOT.

Violation Consequence: RED CARD.

Per M13, HUMAN PLAYERS may not touch or contact the ROBOT while loading and retrieving
WATER, ENERGY, or FOOD into and from a ROBOT.

G12 WATER and ENERGY may only be CONSERVED in the NEXUS GOALS by ROBOTS, not by HUMAN
PLAYERS.

Violation Consequence: YELLOW CARD + FOUL.

G13 ROBOTS are allowed to place or launch WATER and ENERGY into the NEXUS GOALS, but FOOD may
only be placed into the FOOD WAREHOUSE. ROBOTS may not launch FOOD into the FOOD
WAREHOUSE. FOOD must be placed in the FOOD WAREHOUSE.

Violation Consequence: YELLOW CARD + FOUL.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 18
G14 ROBOTS may not intentionally launch WATER or ENERGY at any ROBOT or human, or outside the
PLAYING FIELD.

Violation Consequence: RED CARD.

G15 HUMAN PLAYERS may only SECURE FOOD in the FOOD WAREHOUSE through the end overlapping
the ALLIANCE STATION. FOOD may not be placed elsewhere along the FOOD WAREHOUSE or thrown by
HUMAN PLAYERS.

Violation Consequence: YELLOW CARD + FOUL.

G16 HUMAN PLAYERS may use the FORK to assist with SECURING FOOD onto the FOOD WAREHOUSE.
Teams may not use any other device besides the provided FORK.

Violation Consequence: YELLOW CARD + FOUL.

G17 A maximum of 1 point for WATER and 1 point for ENERGY is earned for WATER and ENERGY
CONSERVED in a single NEXUS GOAL. The maximum number of WATER and ENERGY CONSERVED
points for each NEXUS GOAL is 2 points. The maximum WATER CONSERVED points for each REGIONAL
ALLIANCE is 12 points, and the maximum ENERGY CONSERVED points for each REGIONAL ALLIANCE is
12 points.

G18 In order to PRODUCE a FOOD and release it into play, at least one WATER and one ENERGY must be
CONSERVED in the NEXUS GOAL. FOOD that is not PRODUCED and remains in the NEXUS GOALS at the
end of the MATCH does not earn points.

G19 WATER and ENERGY may only be CONSERVED in the NEXUS GOALS, and FOOD may only be
SECURED in the FOOD WAREHOUSE. FOOD may not be intentionally placed or launched into the NEXUS
GOALS, and WATER and ENERGY may not be intentionally placed in the FOOD WAREHOUSE. Questionable
incidents and possible intent will be evaluated by the HEAD REFEREE.

Violation Consequence: YELLOW CARD + FOUL.

G20 ROBOTS must meet all conditions to earn the BALANCE MULTIPLIER. Specifically:
A. Each ROBOT must be fully supported (directly or indirectly) by the RAMP or the PLATFORM.
B. No ROBOT component is touching or in contact with the PLAYING FIELD SURFACE.
C. All ROBOTS solely on the PLATFORM that meet these requirements will earn the BALANCE
MULTIPLIER.
D. ROBOTS on or touching the RAMP only earn the BALANCE MULTIPLIER if the RAMP is balanced at
the end of the MATCH, as indicated by the LEDs.
E. If any obstruction (such as a game piece) is influencing the RAMP to appear balanced, when in fact it
should not be, the ROBOTS on or touching the RAMP will not earn the BALANCE MULTIPLIER.

A ROBOT that is “fully supported indirectly” means the full weight of the ROBOT is supported by the
RAMP or PLATFORM structure, even if the ROBOT is not in direct contact with the structure itself.
For example, if a ROBOT’S weight is transferred to the PLATFORM structure through direct contact
with another ROBOT’S mechanism.

G21 Real-time scores displayed on the scoreboard are not official and are for in-MATCH reference use only.
Official MATCH scores will be validated after the MATCH ends.

G22 Scores are calculated when all ROBOTS, WATER, ENERGY, FOOD, and the RAMP come to rest at the
end of the MATCH. A 5-second period after the end of the MATCH (when the MATCH timer displays 0:00) will

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 19
 be used to establish the resting status of the ROBOTS, WATER, ENERGY, FOOD, the RAMP, and the
BALANCE MULTIPLIER values earned. DRIVE TEAMS should try to make scoring clear and unambiguous,
particularly when positioning their ROBOTS on the RAMP and PLATFORM.

5. THE ROBOT

5.1. Overview
This section outlines the rules and requirements for the design and construction of a 2024 FIRST Global ROBOT.
FIRST Global ROBOTS are teleoperated and designed and built by student team members to compete in the Feeding
the Future Robotics Challenge. REV Robotics supplies the 2024 FIRST Global REV Robotics Kit of Parts from which
teams will build their ROBOTS. Spare or replacement parts, as well as additional information about materials contained
in the 2024 FIRST Global REV Robotics Kit of Parts, can be found on the REV Robotics website. ROBOT build guides,
technical resources, and CAD files of the components included in the 2024 FIRST Global REV Robotics Kit of Parts can
be found at https://first.global/fgc/robot-kit/.

5.2. Robot Design and Construction Rules

R01 Each FIRST Global team may only enter one robot in the competition. Changes and modifications can be
made to the robot throughout the event, but there can only be one robot per team.

R02 ROBOTS must function in imperfect situations. The PLAYING FIELD and placement of components making
up the PLAYING FIELD may vary by up to ± 25 mm except if specifically noted in the 2024 FGC Playing Field
Drawings (link coming soon). ROBOT designs should be robust enough to work even if the PLAYING FIELD,
WATER, ENERGY, or FOOD are not perfectly sized or inflated or have a slightly different texture.

R03 ROBOTS must be designed to start each MATCH within a 50 cm x 50 cm x 50 cm volume. See G02.

R04 ROBOTS must remain in one piece on the PLAYING FIELD. ROBOTS may not intentionally detach parts on
the PLAYING FIELD during the MATCH.

Violation Consequence: YELLOW CARD, RED CARD, or ROBOT disabled for MATCH depending on severity
of offense.

R05 ROBOTS must be designed to permit easy removal of WATER, ENERGY, and FOOD without requiring
the ROBOT to be powered. For example, the ROBOT should not require power to run a mechanism, actuate
a servo, or reverse an intake to release a game piece.

R06 Each ROBOT must pass an initial inspection before being allowed to play in any RANKING or PLAYOFF
MATCH.
A. If a HEAD REFEREE or INSPECTOR determines that a ROBOT is in violation of any rules, the team
may be issued a RED CARD for the current MATCH (if they are playing) and will be required to pass a
re-inspection before competing in their next MATCH.
B. ROBOTS may be re-inspected at any time.
C. If a team makes major modifications to their ROBOT, re-inspection is required.

Violation Consequence: ROBOT not allowed to compete or RED CARD depending on severity of offense.

R07 ROBOTS must be constructed from only the quantity and type of components included in the 2024
FIRST Global REV Robotics Kit of Parts unless otherwise explicitly allowed. Each team will receive one

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 20
 2024 FIRST Global REV Robotics Kit of Parts composed of two totes: one tote containing a FTC Starter Kit and
one tote containing FIRST Global-Specific Components.

The official list of allowable components is identified in the combined 2024 FGC Bill of Materials (link coming
soon), with the following exceptions:
A. Tools (5.5 mm nut driver, 5.5 mm combination wrenches, #25 chain tool, and allen wrenches)
B. Control System (battery charger and REV USB PS4 Compatible Gamepad)
C. FTC Starter Kit Guide and Bill of Materials
D. 2024 FIRST Global Challenge game pieces (WATER, ENERGY, and FOOD)
E. Bicycle pump
F. Plastic storage totes
G. Cardboard shipping boxes
H. Plastic and foam packaging materials

Violation Consequence: ROBOT not allowed to compete.

The game piece manufacturer does not sell to the general public, therefore identical game pieces to
those provided in the 2024 FIRST Global REV Robotics Kit of Parts and used at the EVENT are not
available for purchase. Teams that are interested in purchasing a full set of game pieces (48 or more)
can contact [email protected].

R08 ROBOTS may only be constructed using official REV Robotics components from the 2024 FIRST Global
REV Robotics Kit of Parts. Unless otherwise specified in R09, no substitutions are allowed.

Violation Consequence: ROBOT not allowed to compete.

Teams may purchase additional parts for prototyping or as spares, but extra components may not be
used to increase the quantity included on the final ROBOT. This rule is intended to help keep the
level of competition equal for all teams.

R09 ROBOTS may also be constructed using the following additional “non-REV Robotics” parts:
A. Any commercially available M3 screws (up to 50 mm long) and any commercially available nuts and/or
washers that are the same sizes as those included in the 2024 FIRST Global REV Robotics Kit of
Parts. These additional parts are to be used as replacements and may not be used to increase the
quantity included on the final ROBOT.
B. Additional zip ties or cable ties. Must be functionally equivalent to REV Robotics zip ties in all ways (for
example, may not be longer, stronger, or stiffer).
C. Lubricants used only in small amounts to reduce friction within the ROBOT. Lubricants must not
contaminate the PLAYING FIELD, WATER, ENERGY, FOOD, or other ROBOTS. Use of lubricants is
limited to:
i. Non-aerosol grease used in extreme moderation only on the internal gearing of motors or
servos as needed after a gearing repair.
ii. Bicycle chain lubricant for repairing rusty roller chain, provided it is used sparingly and excess
amounts are wiped off.
D. Small amounts of tape or heat-shrink tubing used solely for:
i. Labeling wires, motors, or sensors.
ii. Securing wire connections.
iii. Note that tape, glue, or other adhesives are not allowed for purposes other than those listed
above/not allowed for assembling the robot.

Violation Consequence: ROBOT not allowed to compete.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 21
R10 Not all items included in the 2024 FIRST Global REV Robotics Kit of Parts may be modified. Motors or
servos may not be modified in any way. Modifications to wires which are to be used with electronic components
are not allowed, except when those modifications return the wires to their original condition as provided by REV
Robotics. Modifications to any electronic component are not allowed. Cutting mechanical components such as
extrusion, brackets, screws, chain, hook and loop, and cords is allowed.

Violation Consequence: ROBOT not allowed to compete.

Teams are encouraged to cut and customize items included in the 2024 FIRST Global REV Robotics
Kit of Parts as allowed to make the best ROBOT design they can. Since teams only receive limited
materials in the 2024 FIRST Global REV Robotics Kit of Parts and replacements will not be provided,
it is important to think before you cut!

Replacing gears or restoring the condition of motor gearboxes is allowed if approved by FIRST
Global or REV Robotics.

R11 ROBOTS may use only one control system. This means one Control Hub, one Expansion Hub, and one
12-Volt battery.

Violation Consequence: ROBOT not allowed to compete.

R12 Not all designs that meet all other rules are legal. The following design features are not allowed:
A. Those which could potentially damage the PLAYING FIELD.
B. Those which could potentially damage the WATER, ENERGY, and FOOD.
C. Those which pose an unnecessary risk of ENTANGLEMENT.

Violation Consequence: ROBOT not allowed to compete.

R13 There is no minimum or maximum weight restriction on the ROBOT.

R14 ROBOTS may include personalization and decoration provided it does not affect or enhance the
performance of the ROBOT. For example, sponsor logos, flags, and artwork. Paint is allowed provided that it
does not change the properties of the material it is being applied to (such as changing the coefficient of friction).
These will be reviewed as part of the inspection process identified in R06.

Violation Consequence: ROBOT not allowed to compete.

R15 ROBOT software must meet the minimum version requirements. The correct versions are as follows:
A. The Control Hub OS must be updated to version 1.1.4 and the Robot Controller application must be
updated to version 9.1. For instructions on updating the Control Hub software, install the REV
Hardware Client and see Updating the Control Hub's Operating System and Updating Robot Controller
Application.
B. The Driver Hub OS must be updated to version 1.2.0 and the Driver Station application must be
updated to version 9.1. For instructions on updating both the Driver Hub OS and Driver Station
application, see Updating the Driver Hub.

Violation Consequence: ROBOT not allowed to compete.

Teams should program their ROBOTS using Blocks or OnBot Java. While it is possible to use
Android Studio, FIRST Global and REV Robotics do not recommend using it for the EVENT. Support
will not be available to teams that do not program in Blocks or OnBot Java.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 22
R16 ROBOTS must remain in each team’s pit at the venue overnight throughout the EVENT. Teams may not
remove their ROBOTS or ROBOT components from the venue, including bringing them to the hotels.
Specifically, ROBOTS and any ROBOT component must remain in the team’s pit area the nights of 25 through
28 September. If a team is found in violation of this rule, they will be issued a RED CARD for their next MATCH.

Violation Consequence: RED CARD.

FIRST Global may authorize team-specific exemptions to this rule due to unforeseen circumstances
such as shipping damage or loss. However, without prior approval, teams will not be allowed to leave
the venue or board the buses with their ROBOTS or ROBOT components.

6. THE TOURNAMENT STRUCTURE

6.1. Overview
The 2024 FIRST Global Challenge is played in a tournament format, consisting of three types of MATCHES. RANKING
MATCHES provide each team with the opportunity to compete with its ROBOT on the PLAYING FIELD to earn points
that will help determine their rank amongst the total participating teams. PLAYOFF MATCHES follow the RANKING
MATCHES to determine which teams advance to the FINAL MATCHES. FINAL MATCHES determine the FIRST Global
Winning Alliance.

6.2. Practice Matches

Each team will have the opportunity to play in an unscored PRACTICE MATCH at the EVENT. PRACTICE MATCHES
are held before the start of RANKING MATCHES to allow teams to test their ROBOTS. Practice fields are available
throughout the duration of the EVENT for teams to continue testing their ROBOTS.

6.3. Ranking Matches

Each team will play a set number of RANKING MATCHES based on the time allowed in the schedule. RANKING
MATCH assignments and schedules will be generated once ROBOTS have been inspected. Teams will earn points
based on their REGIONAL ALLIANCE’S performance during RANKING MATCHES, and the points will determine which
teams advance to the PLAYOFF MATCHES.

Each team is ranked based on the average of the sum of their best MATCH scores. Each team’s single lowest-scoring
MATCH will not be included in their ranking score.

If one or more teams are tied for a ranking position at the conclusion of RANKING MATCHES, the next factor for
determining which teams advance to the PLAYOFF MATCHES is the highest single RANKING MATCH score from the
team’s RANKING MATCHES. The team with the highest single RANKING MATCH score advances.

If there continues to be a tie between one or more teams after ranking position and the highest single RANKING
MATCH score from the team’s RANKING MATCHES has been considered, the next factor for determining which teams
advance to the PLAYOFF MATCHES is total FOOD SECURED points. The team with the highest cumulative FOOD
SECURED points from all RANKING MATCHES advances.

6.4. Alliance Selection

TOURNAMENT ALLIANCES for the PLAYOFF MATCHES and FINAL MATCHES are selected following the conclusion
of RANKING MATCHES, and do not change for the remainder of the EVENT.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 23
A total of 32 teams compete in PLAYOFF MATCHES, divided into eight four-team TOURNAMENT ALLIANCES. At the
conclusion of RANKING MATCHES, the top 24 teams will be automatically placed into eight TOURNAMENT
ALLIANCES based on their rank and according to Table 6-1. Each of the eight TOURNAMENT ALLIANCES is led by
one of the top-ranked eight teams as determined at the conclusion of the RANKING MATCHES. An additional eight
teams will be selected via a random draw from the remaining pool of teams to fill the fourth slot on each TOURNAMENT
ALLIANCE. The random draw is selected from the remaining teams (ranked #25 and below) and is independent of team
rank.

Only three of the four TOURNAMENT ALLIANCE teams will compete in each PLAYOFF and FINAL MATCH. The
TOURNAMENT ALLIANCE teams determine which ROBOTS will participate in each MATCH. Four teams per
TOURNAMENT ALLIANCE allows for teams to make strategic choices as to which ROBOT plays each MATCH, while
allowing for more teams to participate in the PLAYOFF and FINAL MATCHES. All teams on the TOURNAMENT
ALLIANCE are treated equally and will all share in any awards that the team receives.

Table 6-1: TOURNAMENT ALLIANCES

TOURNAMENT
Team Rankings at the Conclusion of RANKING MATCHES
ALLIANCE
1 #1 Ranked Team #9 Ranked Team #24 Ranked Team Random Draw
2 #2 Ranked Team #10 Ranked Team #23 Ranked Team Random Draw
3 #3 Ranked Team #11 Ranked Team #22 Ranked Team Random Draw
4 #4 Ranked Team #12 Ranked Team #21 Ranked Team Random Draw
5 #5 Ranked Team #13 Ranked Team #20 Ranked Team Random Draw
6 #6 Ranked Team #14 Ranked Team #19 Ranked Team Random Draw
7 #7 Ranked Team #15 Ranked Team #18 Ranked Team Random Draw
8 #8 Ranked Team #16 Ranked Team #17 Ranked Team Random Draw

6.5. Playoff Matches

The PLAYOFF MATCHES are structured as a tournament consisting of sixteen MATCHES. WATER CONSERVED
points, ENERGY CONSERVED points, FOOD PRODUCED points, FOOD SECURED points, BALANCE MULTIPLIER,
and COOPERTITION BONUS points remain unchanged from RANKING MATCHES. Each of the eight TOURNAMENT
ALLIANCES will play four MATCHES according to Table 6-2.

Table 6-2: PLAYOFF MATCH Structure

MATCH Number Competing TOURNAMENT ALLIANCES
MATCH 1 TOURNAMENT ALLIANCE 4 TOURNAMENT ALLIANCE 7
MATCH 2 TOURNAMENT ALLIANCE 5 TOURNAMENT ALLIANCE 6
MATCH 3 TOURNAMENT ALLIANCE 3 TOURNAMENT ALLIANCE 8
MATCH 4 TOURNAMENT ALLIANCE 1 TOURNAMENT ALLIANCE 2
MATCH 5 TOURNAMENT ALLIANCE 5 TOURNAMENT ALLIANCE 4
MATCH 6 TOURNAMENT ALLIANCE 3 TOURNAMENT ALLIANCE 6
MATCH 7 TOURNAMENT ALLIANCE 2 TOURNAMENT ALLIANCE 7
MATCH 8 TOURNAMENT ALLIANCE 1 TOURNAMENT ALLIANCE 8
MATCH 9 TOURNAMENT ALLIANCE 3 TOURNAMENT ALLIANCE 4

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 24
 MATCH 10 TOURNAMENT ALLIANCE 2 TOURNAMENT ALLIANCE 5
MATCH 11 TOURNAMENT ALLIANCE 1 TOURNAMENT ALLIANCE 6
MATCH 12 TOURNAMENT ALLIANCE 7 TOURNAMENT ALLIANCE 8
MATCH 13 TOURNAMENT ALLIANCE 2 TOURNAMENT ALLIANCE 3
MATCH 14 TOURNAMENT ALLIANCE 1 TOURNAMENT ALLIANCE 4
MATCH 15 TOURNAMENT ALLIANCE 5 TOURNAMENT ALLIANCE 8
MATCH 16 TOURNAMENT ALLIANCE 6 TOURNAMENT ALLIANCE 7

The eight TOURNAMENT ALLIANCES are each ranked based on the sum of the four scores from each PLAYOFF
MATCH. The top three ranked TOURNAMENT ALLIANCES advance to the FINAL MATCHES.

6.6. Final Matches

The FINAL MATCHES consist of three MATCHES. Each of the top three ranked TOURNAMENT ALLIANCES from the
PLAYOFF MATCHES will play two MATCHES, one against each of the other two TOURNAMENT ALLIANCES,
according to Table 6-3.

Table 6-3: FINAL MATCH Structure

MATCH
Competing TOURNAMENT ALLIANCES
Number
MATCH 1 #1 Ranked TOURNAMENT ALLIANCE #3 Ranked TOURNAMENT ALLIANCE
MATCH 2 #3 Ranked TOURNAMENT ALLIANCE #2 Ranked TOURNAMENT ALLIANCE
MATCH 3 #2 Ranked TOURNAMENT ALLIANCE #1 Ranked TOURNAMENT ALLIANCE

The three TOURNAMENT ALLIANCES are each ranked based on the sum of the two scores from each FINAL MATCH.
The top-ranked TOURNAMENT ALLIANCE is declared the FIRST Global Winning Alliance.

6.7. Tournament Rules

T01 All four teams in a TOURNAMENT ALLIANCE must participate in a minimum of one PLAYOFF MATCH. If
a TOURNAMENT ALLIANCE’S teams do not come to an agreement on which teams will play in each MATCH,
a random selection will be made by FIRST Global.

T02 Tournament rules apply to all four teams on each TOURNAMENT ALLIANCE in the PLAYOFF and FINAL
MATCHES.

T03 FIRST Global reserves the right to modify the pairing of teams based on situational considerations at
the EVENT after the final rankings are determined. In the event that these pairings must change, every
effort will be made to ensure changes have minimal impact on the TOURNAMENT ALLIANCE average strength
by keeping changes within three ranking positions. Teams will be notified of these changes prior to the
TOURNAMENT ALLIANCE pairing announcements.

T04 Teams may not save sections of spectator seating. If team members are not present, seats should remain
available for other teams and spectators.

6.8. Awards
The following quantitative awards are determined solely by ROBOT performance in the Feeding the Future Robotics
Challenge.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 25
 ● FIRST Global Grand Challenge Award - Gold, silver, and bronze medals awarded to the teams with the highest
ranking score
● FIRST Global Winning Alliance - Gold medals awarded to the four teams on the top-ranked TOURNAMENT
ALLIANCE
● FIRST Global Finalist Alliances - Silver medals awarded to the second-ranked TOURNAMENT ALLIANCE, and
bronze medals awarded to the third-ranked TOURNAMENT ALLIANCE

7. SKILLS CHALLENGE
To be announced.

8. GLOSSARY
Key Word Definition

The locations on opposing sides of the PLAYING FIELD where DRIVE TEAMS stand during
ALLIANCE STATION
the MATCH.

The process of positioning the ROBOTS on the RAMP and the PLATFORM to earn a
BALANCE MULTIPLIER and COOPERTITION BONUS points. To be considered BALANCED,
BALANCE ROBOTS must be fully supported (directly or indirectly) by the RAMP or the PLATFORM with
no component touching the PLAYING FIELD SURFACE and no obstruction influencing the
RAMP position.

A multiplier based on the total number of ROBOTS BALANCED on the RAMP or the
BALANCE
PLATFORM and is applied to a REGIONAL ALLIANCE’S WATER plus ENERGY plus FOOD
MULTIPLIER
PRODUCED points earned.

A student team member on the DRIVE TEAM. The CAPTAIN’S primary responsibility is to
monitor MATCH play and advise the DRIVERS and HUMAN PLAYERS. The CAPTAIN also
CAPTAIN coordinates strategy with other GLOBAL and REGIONAL ALLIANCE members. There is no
explicit rule that the CAPTAIN may not hold or touch the controls. Each DRIVE TEAM may
have one CAPTAIN.

The process of ROBOTS placing or launching WATER and ENERGY into the NEXUS
CONSERVE
GOALS and RESERVOIR.

COOPERTITION Additional points awarded to a GLOBAL ALLIANCE if five or more ROBOTS are BALANCED
BONUS at the end of the MATCH.

DISQUALIFIED A team is no longer allowed to participate in any aspect of the EVENT.

Up to four student team members who fulfill the roles of DRIVERS, CAPTAIN, and HUMAN
DRIVE TEAM
PLAYER for a given MATCH.

A student team member on the DRIVE TEAM. The DRIVER operates the team’s ROBOT
DRIVER
during the MATCH. Each DRIVE TEAM may have up to two DRIVERS.

Green playground balls made of a rubber material with an inflated diameter of 275 mm (± 5
ENERGY
mm). ENERGY are CONSERVED in the NEXUS GOALS and RESERVOIR.

2024 FIRST Global Challenge – Feeding the Future Robotics Challenge Game Manual 26
 When two or more ROBOTS become interconnected on the PLAYING FIELD during the
ENTANGLEMENT
course of the MATCH.

EVENT The 2024 FIRST Global Challenge in Athens, Greece.

The third and final set of official EVENT MATCHES. FINAL MATCHES determine the FIRST
FINAL MATCHES
Global Winning Alliance.

Orange playground balls made of a rubber material with an inflated diameter of 275 mm (± 5
FOOD
mm). FOOD are SECURED in the FOOD WAREHOUSE.

The aluminum structure that spans the width of the PLAYING FIELD and is above the
FOOD WAREHOUSE RESERVOIR and two sets of NEXUS GOALS. It is open along the top and the outer edges
overlap the ALLIANCE STATIONS.

A tool supplied to HUMAN PLAYERS to assist with SECURING FOOD in the FOOD
FORK
WAREHOUSE.

An official penalty assessed to a team for breaking a rule. A FOUL issued to teams during the
MATCH comes with a point penalty equivalent to 10% of the offending REGIONAL
ALLIANCE’S MATCH score. The penalty points will be awarded to the opposing REGIONAL
FOUL
ALLIANCE (rather than deducted from the offending REGIONAL ALLIANCE’S MATCH
score). A FOUL point penalty is calculated from the pre-penalty MATCH score. Multiple
FOULS assessed to a REGIONAL ALLIANCE during a single MATCH are cumulative.

A cooperative of six FIRST Global teams that work together to SECURE FOOD in the FOOD
GLOBAL ALLIANCE WAREHOUSE and BALANCE global resources by positioning the ROBOTS on the RAMP
and the PLATFORM.

A system of borders at least 20 cm tall surrounding the PLAYING FIELD perimeter to contain
GUARDRAIL WATER, ENERGY, and FOOD and prevent ROBOTS from inadvertently leaving the PLAYING
FIELD.

HEAD REFEREE An official assigned by FIRST Global to enforce the rules of the game.

A student team member on the DRIVE TEAM that interacts with WATER, ENERGY, and
HUMAN PLAYER
FOOD during the MATCH. Each DRIVE TEAM may have one HUMAN PLAYER.

INSPECTOR An official assigned by FIRST Global to assess the legality of a ROBOT.

The 2 minutes and 30 seconds (2:30) of gameplay where the DRIVE TEAM operates their
ROBOT on the PLAYING FIELD. The MATCH begins when the announcer says “go” and the
MATCH
MATCH timer starts to count down from 2:30. The MATCH ends when the MATCH timer
reaches zero (0:00).

Boxes of varying height that are open at the top for CONSERVING WATER and ENERGY.
The bottom section has a rotating mechanism that releases FOOD. 12 NEXUS GOALS are
NEXUS GOALS
located near the center of the PLAYING FIELD, and 12 are located below the FOOD
WAREHOUSE.

A stationary elevated surface near the center of the PLAYING FIELD. ROBOTS BALANCE on
PLATFORM
the PLATFORM to earn a BALANCE MULTIPLIER and COOPERTITION BONUS points.

A raised 7 m by 7 m platform elevated approximately 70 cm off the ground, bounded by the

PLAYING FIELD GUARDRAILS, and inclusive of the NEXUS GOALS, RESERVOIR, FOOD WAREHOUSE,
RAMP, PLATFORM, and the inward facing surfaces of the GUARDRAILS.

PLAYING FIELD The horizontal surface of the PLAYING FIELD, bounded by the GUARDRAILS and covered
SURFACE with a low pile carpet.

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 The second set of official EVENT MATCHES. PLAYOFF MATCHES determine which
PLAYOFF MATCHES
TOURNAMENT ALLIANCES advance to the FINAL MATCHES.

The result of successfully CONSERVING one WATER and one ENERGY in a NEXUS GOAL,
PRODUCE
whereby a FOOD is released into play.

The RAMP is a tilting platform with hinged, slanted sides. ROBOTS BALANCE on the RAMP
RAMP
to earn a BALANCE MULTIPLIER and COOPERTITION BONUS points.

The first set of official EVENT MATCHES. RANKING MATCHES determine which teams
RANKING MATCHES
advance to the PLAYOFF MATCHES.

An official penalty assessed to a team for repeatedly breaking a rule, breaking multiple rules,
or egregious actions. Generally, a YELLOW CARD is assessed to a team before a RED
CARD, but it is at the HEAD REFEREE’S judgment to issue a RED CARD based on the
severity of the offense. In RANKING MATCHES, when a team is issued a RED CARD, the
RED CARD
team receives 0 points for that specific MATCH. In PLAYOFF and FINAL MATCHES, when a
team is issued a RED CARD, the full TOURNAMENT ALLIANCE receives 0 points for that
specific MATCH. A RED CARD MATCH may not be considered as the lowest-scoring MATCH
to be dropped from a team’s overall RANKING score.

REGIONAL A cooperative of three FIRST Global teams that work together to CONSERVE WATER and
ALLIANCE ENERGY and PRODUCE FOOD.

The areas on the PLAYING FIELD SURFACE parallel to the ALLIANCE STATIONS and
REGIONAL ZONE
adjacent to the GUARDRAILS on either side of the RAMP and PLATFORM.

Rectangular spaces with raised perimeters that are located between the two sets of NEXUS
RESERVOIR
GOALS and below the FOOD WAREHOUSE.

Any single electromechanical mechanism or device created from the 2024 FIRST Global REV
ROBOT Robotics Kit of Parts for the 2024 FIRST Global Challenge and operated by DRIVE TEAMS in
MATCHES.

RUN The timed series of actions performed by a ROBOT participating in the SKILLS CHALLENGE.

SECURE The process of ROBOTS or HUMAN PLAYERS placing FOOD in the FOOD WAREHOUSE.

TOURNAMENT A cooperative of up to four FIRST Global teams that work together during the PLAYOFF
ALLIANCE MATCHES and FINAL MATCHES and do not change for the remainder of the EVENT.

Blue playground balls made of a rubber material with an inflated diameter of 275 mm (± 5
WATER
mm). WATER are CONSERVED in the NEXUS GOALS and RESERVOIR.

An official designation assessed to a team for failing to come to a MATCH with at least a
WHITE CARD HUMAN PLAYER. In RANKING MATCHES, when a team is issued a WHITE CARD, the team
receives 0 points for that specific MATCH.

An official warning issued to a team for breaking a rule. Additional YELLOW CARDS may be
YELLOW CARD elevated to a RED CARD at the judgment of the HEAD REFEREE, depending on the severity
and frequency of the offense.

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