USPDroidsSS Robot Soccer Simulator for Very Small Size Category

There are few simulators to test and validate the controlling strategies for a robot soccer team belonging to Very Small Size Category. In this paper, it is proposed an open source simulator for this category, named by USPDroidsSS, which provides a simulation environment for robot soccer that enable the development of robotic control systems to be changed from the real system with the minimal of modifications. Here are described the details of the simulator and its use for the development process of robots control strategies. It will be also introduced the validation process and presented the comparisons between the virtual and real environment.