Abstract: Based on the brief introduction of RoboCup Federation and FIRA(Federation of International Robot-Soccer Association), we discuss RoboCup tournaments in details. The architectures and correlative techniques of some RoboCup teams are also introduced in this paper. The key techniques include:distributed artificial intelligence(DAI), multi-agent systems(MAS), machine learning & decision making and so on. This paper is meaningful for researchers to establish robot soccer team and enhance the research on correlative fields.