\begin{tikzpicture}           
% Grid
\draw [rounded corners,gray50,fill=gray99, very thin]
(0,4) -- (0,0) -- (16,0) -- (16,8) -- (0,8) -- (0,4);
\draw [color=gray85, thin] (8,0) -- (8,8);
\draw [color=gray85, thin] (10,0) -- (10,8);
\draw [color=gray85, thin] (12,0) -- (12,8);
\draw [color=gray85, thin] (14,0) -- (14,8);
\draw [color=gray85, thin] (6,0) -- (6,8);
\draw [color=gray85, thin] (4,0) -- (4,8);
\draw [color=gray85, thin] (2,0) -- (2,8);
\draw [color=gray85, thin] (0,4) -- (16,4);
\draw [color=gray85, thin] (0,6) -- (16,6);
\draw [color=gray85, thin] (0,2) -- (16,2);
% Grid
\draw [rounded corners,gray50, very thin]
(0,4) -- (0,0) -- (16,0) -- (16,8) -- (0,8) -- (0,4);

% Panel
\draw [rounded corners,black,fill=beige, very thin]
(0.1,7.4) -- (0.1,6.9) -- (2.6,6.9) -- (2.6,7.9) -- (0.1,7.9) -- (0.1,7.4);

% Panel
\draw [rounded corners,black,fill=beige, very thin]
(13.4,7.4) -- (13.4,6.9) -- (15.9,6.9) -- (15.9,7.9) -- (13.4,7.9) -- (13.4,7.4);

% Draw Line: playing_field:grid_cell_horz
\draw [color=gray30, |-|, very thin] 
(4,7) -- (6,7);
% Text Label
\draw [color=black] (5.5,7.2) node {\tiny
20 m
};

% Draw Line: playing_field:grid_cell_vert
\draw [color=gray30, |-|, very thin] 
(5,8) -- (5,6);
% Draw Circle: playing_field:home_zone_blue
\draw [color=black,dashed, very thin] 
(14,4) circle (1cm);
% Text Label
\draw [color=black] (1.75,7.2) node {\tiny
Blue Humans
};

% Text Label
\draw [color=black] (1.75,7.6) node {\tiny
Blue Robots
};

% Text Label
\draw [color=black] (14.25,7.6) node {\tiny
Red Robots
};

% Text Label
\draw [color=black] (14.25,7.2) node {\tiny
Red Humans
};


% Draw Circle: playing_field:home_zone_red
\draw [color=gray50,dashed, very thin] 
(2,4) circle (1cm);
% Text Label
\draw [color=black] (1,2.8) node {\tiny
Blue Team Flag
};

% Text Label
\draw [color=black] (3,2.4) node {\tiny
Blue Team Zone
};

% Text Label
\draw [color=black] (15,2.8) node {\tiny
Red Team Flag
};

% Text Label
\draw [color=black] (13,2.4) node {\tiny
Red Team Zone
};

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(15.1041,7.57624) -- (15.126,7.55425) -- (15.2958,7.72395) -- (15.2738,7.74595) -- (15.1041,7.57624);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(15.2738,7.74595) .. controls (15.3391,7.78926) .. (15.2958,7.72395);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(15.2042,7.47605) -- (15.2262,7.45405) -- (15.3959,7.62376) -- (15.374,7.64575) -- (15.2042,7.47605);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(15.374,7.64575) .. controls (15.4393,7.68906) .. (15.3959,7.62376);
% M200 drawing: mid section or body 
\draw [color=black,fill=pink, ultra thin] 
(15.143,7.57122) -- (15.2212,7.49302) -- (15.357,7.62878) -- (15.2788,7.70698) -- (15.143,7.57122);

% Ship drawing: inside triangle
\draw [color=lightskyblue, fill=lightskyblue, ultra thin] 
(0.220183,7.09697) -- (0.541421,7.34142) -- (0.296975,7.02018);
% Ship drawing: left side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(0.220183,7.09697) .. controls (0.378787,7.29192) .. (0.541421,7.34142);
% Ship drawing: right side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(0.296975,7.02018) .. controls (0.491924,7.17879) .. (0.541421,7.34142);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(0.220183,7.09697) -- (0.296975,7.02018);
% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(15.4541,7.57624) -- (15.476,7.55425) -- (15.6458,7.72395) -- (15.6238,7.74595) -- (15.4541,7.57624);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(15.6238,7.74595) .. controls (15.6891,7.78926) .. (15.6458,7.72395);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(15.5542,7.47605) -- (15.5762,7.45405) -- (15.7459,7.62376) -- (15.724,7.64575) -- (15.5542,7.47605);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(15.724,7.64575) .. controls (15.7893,7.68906) .. (15.7459,7.62376);
% M200 drawing: mid section or body 
\draw [color=black,fill=pink, ultra thin] 
(15.493,7.57122) -- (15.5712,7.49302) -- (15.707,7.62878) -- (15.6288,7.70698) -- (15.493,7.57122);

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(0.604053,7.57624) -- (0.626047,7.55425) -- (0.795753,7.72395) -- (0.773759,7.74595) -- (0.604053,7.57624);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(0.773759,7.74595) .. controls (0.839062,7.78926) .. (0.795753,7.72395);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(0.704247,7.47605) -- (0.726241,7.45405) -- (0.895947,7.62376) -- (0.873953,7.64575) -- (0.704247,7.47605);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(0.873953,7.64575) .. controls (0.939256,7.68906) .. (0.895947,7.62376);
% M200 drawing: mid section or body 
\draw [color=black,fill=dodgerblue, ultra thin] 
(0.643018,7.57122) -- (0.721218,7.49302) -- (0.856982,7.62878) -- (0.778782,7.70698) -- (0.643018,7.57122);

% Ship drawing: inside triangle
\draw [color=lightskyblue, fill=lightskyblue, ultra thin] 
(0.570183,7.09697) -- (0.891421,7.34142) -- (0.646975,7.02018);
% Ship drawing: left side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(0.570183,7.09697) .. controls (0.728787,7.29192) .. (0.891421,7.34142);
% Ship drawing: right side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(0.646975,7.02018) .. controls (0.841924,7.17879) .. (0.891421,7.34142);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(0.570183,7.09697) -- (0.646975,7.02018);
% Ship drawing: inside triangle
\draw [color=pink, fill=pink, ultra thin] 
(15.4202,7.09697) -- (15.7414,7.34142) -- (15.497,7.02018);
% Ship drawing: left side of bow 
\draw [color=black,fill=pink, ultra thin] 
(15.4202,7.09697) .. controls (15.5788,7.29192) .. (15.7414,7.34142);
% Ship drawing: right side of bow 
\draw [color=black,fill=pink, ultra thin] 
(15.497,7.02018) .. controls (15.6919,7.17879) .. (15.7414,7.34142);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(15.4202,7.09697) -- (15.497,7.02018);
% Ship drawing: inside triangle
\draw [color=pink, fill=pink, ultra thin] 
(15.0702,7.09697) -- (15.3914,7.34142) -- (15.147,7.02018);
% Ship drawing: left side of bow 
\draw [color=black,fill=pink, ultra thin] 
(15.0702,7.09697) .. controls (15.2288,7.29192) .. (15.3914,7.34142);
% Ship drawing: right side of bow 
\draw [color=black,fill=pink, ultra thin] 
(15.147,7.02018) .. controls (15.3419,7.17879) .. (15.3914,7.34142);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(15.0702,7.09697) -- (15.147,7.02018);
% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(0.254053,7.57624) -- (0.276047,7.55425) -- (0.445753,7.72395) -- (0.423759,7.74595) -- (0.254053,7.57624);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(0.423759,7.74595) .. controls (0.489062,7.78926) .. (0.445753,7.72395);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(0.354247,7.47605) -- (0.376241,7.45405) -- (0.545947,7.62376) -- (0.523953,7.64575) -- (0.354247,7.47605);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(0.523953,7.64575) .. controls (0.589256,7.68906) .. (0.545947,7.62376);
% M200 drawing: mid section or body 
\draw [color=black,fill=dodgerblue, ultra thin] 
(0.293018,7.57122) -- (0.371218,7.49302) -- (0.506982,7.62878) -- (0.428782,7.70698) -- (0.293018,7.57122);

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(5.88,3.5864) -- (5.88,3.5553) -- (6.12,3.5553) -- (6.12,3.5864) -- (5.88,3.5864);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(6.12,3.5864) .. controls (6.1968,3.57085) .. (6.12,3.5553);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(5.88,3.4447) -- (5.88,3.4136) -- (6.12,3.4136) -- (6.12,3.4447) -- (5.88,3.4447);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(6.12,3.4447) .. controls (6.1968,3.42915) .. (6.12,3.4136);
% M200 drawing: mid section or body 
\draw [color=black,fill=dodgerblue, ultra thin] 
(5.904,3.5553) -- (5.904,3.4447) -- (6.096,3.4447) -- (6.096,3.5553) -- (5.904,3.5553);

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(5.88,4.5864) -- (5.88,4.5553) -- (6.12,4.5553) -- (6.12,4.5864) -- (5.88,4.5864);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(6.12,4.5864) .. controls (6.1968,4.57085) .. (6.12,4.5553);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(5.88,4.4447) -- (5.88,4.4136) -- (6.12,4.4136) -- (6.12,4.4447) -- (5.88,4.4447);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(6.12,4.4447) .. controls (6.1968,4.42915) .. (6.12,4.4136);
% M200 drawing: mid section or body 
\draw [color=black,fill=dodgerblue, ultra thin] 
(5.904,4.5553) -- (5.904,4.4447) -- (6.096,4.4447) -- (6.096,4.5553) -- (5.904,4.5553);

% Ship drawing: inside triangle
\draw [color=lightskyblue, fill=lightskyblue, ultra thin] 
(5.775,2.5611) -- (6.225,2.5) -- (5.775,2.4389);
% Ship drawing: left side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(5.775,2.5611) .. controls (6.05625,2.59) .. (6.225,2.5);
% Ship drawing: right side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(5.775,2.4389) .. controls (6.05625,2.41) .. (6.225,2.5);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.775,2.5611) -- (5.775,2.4389);
% Ship drawing: inside triangle
\draw [color=lightskyblue, fill=lightskyblue, ultra thin] 
(5.775,5.5611) -- (6.225,5.5) -- (5.775,5.4389);
% Ship drawing: left side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(5.775,5.5611) .. controls (6.05625,5.59) .. (6.225,5.5);
% Ship drawing: right side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(5.775,5.4389) .. controls (6.05625,5.41) .. (6.225,5.5);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.775,5.5611) -- (5.775,5.4389);
% Draw Point: playing_field:flag_red
\draw [color=blue,fill=blue, thin] 
(2,4) circle (0.05cm);
% Draw Point: playing_field:flag_blue
\draw [color=red,fill=red, thin] 
(14,4) circle (0.05cm);
% Draw Line: playing_field:blue_team_flag
\draw [color=black, ->, thin] 
(0.4,3) -- (1.9,3.9);
% Draw Line: playing_field:red_team_flag
\draw [color=black, ->, thin] 
(15.3,3) -- (14.1,3.9);
% Draw Line: playing_field:red_team_zone
\draw [color=black, ->, thin] 
(13,2.6) -- (13.5,3.1);
% Draw Line: playing_field:blue_team_zone
\draw [color=black, ->, thin] 
(3,2.6) -- (2.5,3.1);
% Draw Line: playing_field:midfield
\draw [color=gray25, dashed, thin] 
(8,8) -- (8,0);
% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(10.12,4.4136) -- (10.12,4.4447) -- (9.88,4.4447) -- (9.88,4.4136) -- (10.12,4.4136);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(9.88,4.4136) .. controls (9.8032,4.42915) .. (9.88,4.4447);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(10.12,4.5553) -- (10.12,4.5864) -- (9.88,4.5864) -- (9.88,4.5553) -- (10.12,4.5553);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(9.88,4.5553) .. controls (9.8032,4.57085) .. (9.88,4.5864);
% M200 drawing: mid section or body 
\draw [color=black,fill=pink, ultra thin] 
(10.096,4.4447) -- (10.096,4.5553) -- (9.904,4.5553) -- (9.904,4.4447) -- (10.096,4.4447);

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(10.12,3.4136) -- (10.12,3.4447) -- (9.88,3.4447) -- (9.88,3.4136) -- (10.12,3.4136);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(9.88,3.4136) .. controls (9.8032,3.42915) .. (9.88,3.4447);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(10.12,3.5553) -- (10.12,3.5864) -- (9.88,3.5864) -- (9.88,3.5553) -- (10.12,3.5553);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(9.88,3.5553) .. controls (9.8032,3.57085) .. (9.88,3.5864);
% M200 drawing: mid section or body 
\draw [color=black,fill=pink, ultra thin] 
(10.096,3.4447) -- (10.096,3.5553) -- (9.904,3.5553) -- (9.904,3.4447) -- (10.096,3.4447);

% Ship drawing: inside triangle
\draw [color=pink, fill=pink, ultra thin] 
(10.225,2.4389) -- (9.775,2.5) -- (10.225,2.5611);
% Ship drawing: left side of bow 
\draw [color=black,fill=pink, ultra thin] 
(10.225,2.4389) .. controls (9.94375,2.41) .. (9.775,2.5);
% Ship drawing: right side of bow 
\draw [color=black,fill=pink, ultra thin] 
(10.225,2.5611) .. controls (9.94375,2.59) .. (9.775,2.5);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(10.225,2.4389) -- (10.225,2.5611);
% Ship drawing: inside triangle
\draw [color=pink, fill=pink, ultra thin] 
(10.225,5.4389) -- (9.775,5.5) -- (10.225,5.5611);
% Ship drawing: left side of bow 
\draw [color=black,fill=pink, ultra thin] 
(10.225,5.4389) .. controls (9.94375,5.41) .. (9.775,5.5);
% Ship drawing: right side of bow 
\draw [color=black,fill=pink, ultra thin] 
(10.225,5.5611) .. controls (9.94375,5.59) .. (9.775,5.5);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(10.225,5.4389) -- (10.225,5.5611);
\end{tikzpicture}  
