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When a team scores, the referee announces the goal (broadcasts a message to all clients), updates the score, suspends the match for 5 seconds, moves the ball to the centre mark, and changes the play-mode to kick_off. While the referee suspends the match (5 seconds), clients must return to their own side. During this interval, clients can use move commands. If a player remains in the opponent side after this period expires, the referee moves the player to a random position within their own side (see 'Kick-off’ rule below.)
RoboCup SoccerServer Manual Account
1999-07-03