\begin{tikzpicture}           
% Grid
\draw [rounded corners,gray20,fill=gray99, very thin]
(0,4) -- (0,0) -- (16,0) -- (16,8) -- (0,8) -- (0,4);
\draw [color=gray90, very thin] (8,0) -- (8,8);
\draw [color=gray90, very thin] (9.95122,0) -- (9.95122,8);
\draw [color=gray90, very thin] (11.9024,0) -- (11.9024,8);
\draw [color=gray90, very thin] (13.8537,0) -- (13.8537,8);
\draw [color=gray90, very thin] (15.8049,0) -- (15.8049,8);
\draw [color=gray90, very thin] (6.04878,0) -- (6.04878,8);
\draw [color=gray90, very thin] (4.09756,0) -- (4.09756,8);
\draw [color=gray90, very thin] (2.14634,0) -- (2.14634,8);
\draw [color=gray90, very thin] (0.195122,0) -- (0.195122,8);
\draw [color=gray90, very thin] (0,4) -- (16,4);
\draw [color=gray90, very thin] (0,5.95122) -- (16,5.95122);
\draw [color=gray90, very thin] (0,7.90244) -- (16,7.90244);
\draw [color=gray90, very thin] (0,2.04878) -- (16,2.04878);
\draw [color=gray90, very thin] (0,0.097561) -- (16,0.097561);
% Grid
\draw [rounded corners,gray20, very thin]
(0,4) -- (0,0) -- (16,0) -- (16,8) -- (0,8) -- (0,4);

% Panel
\draw [rounded corners,black,fill=beige, very thin]
(13.2683,7.32927) -- (13.2683,6.82927) -- (15.7683,6.82927) -- (15.7683,7.82927) -- (13.2683,7.82927) -- (13.2683,7.32927);

% Panel
\draw [rounded corners,black,fill=beige, very thin]
(0.292683,7.32927) -- (0.292683,6.82927) -- (2.79268,6.82927) -- (2.79268,7.82927) -- (0.292683,7.82927) -- (0.292683,7.32927);

% Draw Circle: playing_field:home_zone_red
\draw [color=gray50,dashed, very thin] 
(2.14634,4) circle (0.97561cm);
% Draw Circle: playing_field:home_zone_blue
\draw [color=black,dashed, very thin] 
(13.8537,4) circle (0.97561cm);

% Text Label
\draw [color=black] (14.0976,7.12195) node {\tiny
Red Humans
};

% Text Label
\draw [color=black] (14.0976,7.5122) node {\tiny
Red Robots
};

% Text Label
\draw [color=black] (1.90244,7.12195) node {\tiny
Blue Humans
};

% Draw Polygon edge lines: defend_poly:defend_south
\draw [color=black, fill=gray97, ultra thin] 
(4.75259,1.71307) -- (4.62995,1.97707) -- (4.54868,2.37268) -- (4.52283,2.83922) -- (4.55366,3.31102) -- (4.64263,3.70098) -- (4.76878,3.96507) -- (4.9199,4.05512) -- (5.06995,3.96176) -- (5.19259,3.69776) -- (5.27385,3.30215) -- (5.29971,2.83571) -- (5.26888,2.3638) -- (5.1799,1.97385) -- (5.05366,1.70976) -- (4.90263,1.6198) -- (4.75259,1.71307);
% Draw Polygon Points: defend_poly:defend_south
\draw [color=black,fill=black, thin] 
(4.75259,1.71307) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.62995,1.97707) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.54868,2.37268) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.52283,2.83922) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.55366,3.31102) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.64263,3.70098) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.76878,3.96507) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.9199,4.05512) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.06995,3.96176) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.19259,3.69776) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.27385,3.30215) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.29971,2.83571) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.26888,2.3638) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.1799,1.97385) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.05366,1.70976) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.90263,1.6198) circle (0.001cm);
% Draw Polygon edge lines: defend_poly:defend_north
\draw [color=black, fill=gray97, ultra thin] 
(4.83171,4.59463) -- (4.70917,4.85863) -- (4.6278,5.25424) -- (4.60205,5.72068) -- (4.63278,6.19249) -- (4.72185,6.58254) -- (4.848,6.84663) -- (4.99912,6.93659) -- (5.14917,6.84332) -- (5.27171,6.57932) -- (5.35298,6.18361) -- (5.37883,5.71717) -- (5.348,5.24537) -- (5.25902,4.85541) -- (5.13288,4.59132) -- (4.98176,4.50127) -- (4.83171,4.59463);
% Draw Polygon Points: defend_poly:defend_north
\draw [color=black,fill=black, thin] 
(4.83171,4.59463) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.70917,4.85863) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.6278,5.25424) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.60205,5.72068) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.63278,6.19249) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.72185,6.58254) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.848,6.84663) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.99912,6.93659) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.14917,6.84332) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.27171,6.57932) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.35298,6.18361) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.37883,5.71717) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.348,5.24537) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.25902,4.85541) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.13288,4.59132) circle (0.001cm);\draw [color=black,fill=black, thin] 
(4.98176,4.50127) circle (0.001cm);
% Text Label
\draw [color=black] (1.90244,7.5122) node {\tiny
Blue Robots
};

% Text Label
\draw [color=black] (12.878,2.43902) node {\tiny
Red Team Zone
};

% Text Label
\draw [color=black] (14.8293,2.82927) node {\tiny
Red Team Flag
};

% Text Label
\draw [color=black] (3.12195,2.43902) node {\tiny
Blue Team Zone
};

% Text Label
\draw [color=black] (1.17073,2.82927) node {\tiny
Blue Team Flag
};

% Draw Image: ipfs:ipf1
\node [inner sep=0pt] (comment) at (8.0976,(4.0976)
{\includegraphics[width=2cm]{ipf.png}};

% Ship drawing: inside triangle
\draw [color=lightskyblue, fill=lightskyblue, ultra thin] 
(0.409934,7.02144) -- (0.723338,7.25992) -- (0.484853,6.94652);
% Ship drawing: left side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(0.409934,7.02144) .. controls (0.56467,7.21163) .. (0.723338,7.25992);
% Ship drawing: right side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(0.484853,6.94652) .. controls (0.675048,7.10126) .. (0.723338,7.25992);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(0.409934,7.02144) -- (0.484853,6.94652);
% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(14.9308,7.48902) -- (14.9522,7.46756) -- (15.1178,7.63312) -- (15.0964,7.65458) -- (14.9308,7.48902);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(15.0964,7.65458) .. controls (15.1601,7.69683) .. (15.1178,7.63312);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(15.0285,7.39127) -- (15.05,7.36981) -- (15.2156,7.53537) -- (15.1941,7.55683) -- (15.0285,7.39127);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(15.1941,7.55683) .. controls (15.2578,7.59908) .. (15.2156,7.53537);
% M200 drawing: mid section or body 
\draw [color=black,fill=pink, ultra thin] 
(14.9688,7.48412) -- (15.0451,7.40782) -- (15.1775,7.54028) -- (15.1013,7.61657) -- (14.9688,7.48412);

% Ship drawing: inside triangle
\draw [color=lightskyblue, fill=lightskyblue, ultra thin] 
(0.751398,7.02144) -- (1.0648,7.25992) -- (0.826317,6.94652);
% Ship drawing: left side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(0.751398,7.02144) .. controls (0.906133,7.21163) .. (1.0648,7.25992);
% Ship drawing: right side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(0.826317,6.94652) .. controls (1.01651,7.10126) .. (1.0648,7.25992);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(0.751398,7.02144) -- (0.826317,6.94652);
% Ship drawing: inside triangle
\draw [color=pink, fill=pink, ultra thin] 
(15.2392,7.02144) -- (15.5526,7.25992) -- (15.3141,6.94652);
% Ship drawing: left side of bow 
\draw [color=black,fill=pink, ultra thin] 
(15.2392,7.02144) .. controls (15.3939,7.21163) .. (15.5526,7.25992);
% Ship drawing: right side of bow 
\draw [color=black,fill=pink, ultra thin] 
(15.3141,6.94652) .. controls (15.5043,7.10126) .. (15.5526,7.25992);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(15.2392,7.02144) -- (15.3141,6.94652);
% Ship drawing: inside triangle
\draw [color=pink, fill=pink, ultra thin] 
(14.8977,7.02144) -- (15.2111,7.25992) -- (14.9727,6.94652);
% Ship drawing: left side of bow 
\draw [color=black,fill=pink, ultra thin] 
(14.8977,7.02144) .. controls (15.0525,7.21163) .. (15.2111,7.25992);
% Ship drawing: right side of bow 
\draw [color=black,fill=pink, ultra thin] 
(14.9727,6.94652) .. controls (15.1629,7.10126) .. (15.2111,7.25992);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(14.8977,7.02144) -- (14.9727,6.94652);
% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(0.442979,7.48902) -- (0.464436,7.46756) -- (0.630003,7.63312) -- (0.608545,7.65458) -- (0.442979,7.48902);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(0.608545,7.65458) .. controls (0.672255,7.69683) .. (0.630003,7.63312);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(0.540729,7.39127) -- (0.562187,7.36981) -- (0.727753,7.53537) -- (0.706296,7.55683) -- (0.540729,7.39127);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(0.706296,7.55683) .. controls (0.770006,7.59908) .. (0.727753,7.53537);
% M200 drawing: mid section or body 
\draw [color=black,fill=dodgerblue, ultra thin] 
(0.480993,7.48412) -- (0.557286,7.40782) -- (0.689739,7.54028) -- (0.613446,7.61657) -- (0.480993,7.48412);

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(0.784442,7.48902) -- (0.8059,7.46756) -- (0.971466,7.63312) -- (0.950009,7.65458) -- (0.784442,7.48902);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(0.950009,7.65458) .. controls (1.01372,7.69683) .. (0.971466,7.63312);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(0.882193,7.39127) -- (0.90365,7.36981) -- (1.06922,7.53537) -- (1.04776,7.55683) -- (0.882193,7.39127);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(1.04776,7.55683) .. controls (1.11147,7.59908) .. (1.06922,7.53537);
% M200 drawing: mid section or body 
\draw [color=black,fill=dodgerblue, ultra thin] 
(0.822456,7.48412) -- (0.898749,7.40782) -- (1.0312,7.54028) -- (0.954909,7.61657) -- (0.822456,7.48412);

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(15.2722,7.48902) -- (15.2937,7.46756) -- (15.4593,7.63312) -- (15.4378,7.65458) -- (15.2722,7.48902);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(15.4378,7.65458) .. controls (15.5015,7.69683) .. (15.4593,7.63312);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(15.37,7.39127) -- (15.3915,7.36981) -- (15.557,7.53537) -- (15.5356,7.55683) -- (15.37,7.39127);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(15.5356,7.55683) .. controls (15.5993,7.59908) .. (15.557,7.53537);
% M200 drawing: mid section or body 
\draw [color=black,fill=pink, ultra thin] 
(15.3103,7.48412) -- (15.3866,7.40782) -- (15.519,7.54028) -- (15.4427,7.61657) -- (15.3103,7.48412);

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(5.93171,4.5721) -- (5.93171,4.54175) -- (6.16585,4.54175) -- (6.16585,4.5721) -- (5.93171,4.5721);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(6.16585,4.5721) .. controls (6.24078,4.55692) .. (6.16585,4.54175);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(5.93171,4.43386) -- (5.93171,4.40351) -- (6.16585,4.40351) -- (6.16585,4.43386) -- (5.93171,4.43386);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(6.16585,4.43386) .. controls (6.24078,4.41868) .. (6.16585,4.40351);
% M200 drawing: mid section or body 
\draw [color=black,fill=dodgerblue, ultra thin] 
(5.95512,4.54175) -- (5.95512,4.43386) -- (6.14244,4.43386) -- (6.14244,4.54175) -- (5.95512,4.54175);

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(5.93171,3.59649) -- (5.93171,3.56614) -- (6.16585,3.56614) -- (6.16585,3.59649) -- (5.93171,3.59649);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(6.16585,3.59649) .. controls (6.24078,3.58132) .. (6.16585,3.56614);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(5.93171,3.45825) -- (5.93171,3.4279) -- (6.16585,3.4279) -- (6.16585,3.45825) -- (5.93171,3.45825);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(6.16585,3.45825) .. controls (6.24078,3.44308) .. (6.16585,3.4279);
% M200 drawing: mid section or body 
\draw [color=black,fill=dodgerblue, ultra thin] 
(5.95512,3.56614) -- (5.95512,3.45825) -- (6.14244,3.45825) -- (6.14244,3.56614) -- (5.95512,3.56614);

% Ship drawing: inside triangle
\draw [color=lightskyblue, fill=lightskyblue, ultra thin] 
(5.82927,5.52302) -- (6.26829,5.46341) -- (5.82927,5.4038);
% Ship drawing: left side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(5.82927,5.52302) .. controls (6.10366,5.55122) .. (6.26829,5.46341);
% Ship drawing: right side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(5.82927,5.4038) .. controls (6.10366,5.37561) .. (6.26829,5.46341);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.82927,5.52302) -- (5.82927,5.4038);
% Ship drawing: inside triangle
\draw [color=lightskyblue, fill=lightskyblue, ultra thin] 
(5.82927,2.5962) -- (6.26829,2.53659) -- (5.82927,2.47698);
% Ship drawing: left side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(5.82927,2.5962) .. controls (6.10366,2.62439) .. (6.26829,2.53659);
% Ship drawing: right side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(5.82927,2.47698) .. controls (6.10366,2.44878) .. (6.26829,2.53659);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.82927,2.5962) -- (5.82927,2.47698);
% Draw Point: playing_field:flag_red
\draw [color=blue,fill=blue, thin] 
(2.14634,4) circle (0.05cm);
% Draw Point: playing_field:flag_blue
\draw [color=red,fill=red, thin] 
(13.8537,4) circle (0.05cm);
% Draw Line: playing_field:midfield
\draw [color=gray25, dashed, thin] 
(8,7.90244) -- (8,0.097561);
% Draw Line: playing_field:red_team_flag
\draw [color=black, ->, thin] 
(15.122,3.02439) -- (13.9512,3.90244);
% Draw Line: playing_field:red_team_zone
\draw [color=black, ->, thin] 
(12.878,2.63415) -- (13.3659,3.12195);
% Draw Line: playing_field:blue_team_zone
\draw [color=black, ->, thin] 
(3.12195,2.63415) -- (2.63415,3.12195);
% Draw Line: playing_field:blue_team_flag
\draw [color=black, ->, thin] 
(0.585366,3.02439) -- (2.04878,3.90244);
% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(10.0683,4.40351) -- (10.0683,4.43386) -- (9.83415,4.43386) -- (9.83415,4.40351) -- (10.0683,4.40351);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(9.83415,4.40351) .. controls (9.75922,4.41868) .. (9.83415,4.43386);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(10.0683,4.54175) -- (10.0683,4.5721) -- (9.83415,4.5721) -- (9.83415,4.54175) -- (10.0683,4.54175);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(9.83415,4.54175) .. controls (9.75922,4.55692) .. (9.83415,4.5721);
% M200 drawing: mid section or body 
\draw [color=black,fill=pink, ultra thin] 
(10.0449,4.43386) -- (10.0449,4.54175) -- (9.85756,4.54175) -- (9.85756,4.43386) -- (10.0449,4.43386);

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(10.0683,3.4279) -- (10.0683,3.45825) -- (9.83415,3.45825) -- (9.83415,3.4279) -- (10.0683,3.4279);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(9.83415,3.4279) .. controls (9.75922,3.44308) .. (9.83415,3.45825);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(10.0683,3.56614) -- (10.0683,3.59649) -- (9.83415,3.59649) -- (9.83415,3.56614) -- (10.0683,3.56614);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(9.83415,3.56614) .. controls (9.75922,3.58132) .. (9.83415,3.59649);
% M200 drawing: mid section or body 
\draw [color=black,fill=pink, ultra thin] 
(10.0449,3.45825) -- (10.0449,3.56614) -- (9.85756,3.56614) -- (9.85756,3.45825) -- (10.0449,3.45825);

% Ship drawing: inside triangle
\draw [color=pink, fill=pink, ultra thin] 
(10.1707,2.47698) -- (9.73171,2.53659) -- (10.1707,2.5962);
% Ship drawing: left side of bow 
\draw [color=black,fill=pink, ultra thin] 
(10.1707,2.47698) .. controls (9.89634,2.44878) .. (9.73171,2.53659);
% Ship drawing: right side of bow 
\draw [color=black,fill=pink, ultra thin] 
(10.1707,2.5962) .. controls (9.89634,2.62439) .. (9.73171,2.53659);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(10.1707,2.47698) -- (10.1707,2.5962);
% Ship drawing: inside triangle
\draw [color=pink, fill=pink, ultra thin] 
(10.1707,5.4038) -- (9.73171,5.46341) -- (10.1707,5.52302);
% Ship drawing: left side of bow 
\draw [color=black,fill=pink, ultra thin] 
(10.1707,5.4038) .. controls (9.89634,5.37561) .. (9.73171,5.46341);
% Ship drawing: right side of bow 
\draw [color=black,fill=pink, ultra thin] 
(10.1707,5.52302) .. controls (9.89634,5.55122) .. (9.73171,5.46341);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(10.1707,5.4038) -- (10.1707,5.52302);
\end{tikzpicture}  
