\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, ultra thin]
(0,4) -- (0,0) -- (16,0) -- (16,8) -- (0,8) -- (0,4);
\draw [color=gray97, very thin] (8,0) -- (8,8);
\draw [color=gray97, very thin] (9.95122,0) -- (9.95122,8);
\draw [color=gray97, very thin] (11.9024,0) -- (11.9024,8);
\draw [color=gray97, very thin] (13.8537,0) -- (13.8537,8);
\draw [color=gray97, very thin] (15.8049,0) -- (15.8049,8);
\draw [color=gray97, very thin] (6.04878,0) -- (6.04878,8);
\draw [color=gray97, very thin] (4.09756,0) -- (4.09756,8);
\draw [color=gray97, very thin] (2.14634,0) -- (2.14634,8);
\draw [color=gray97, very thin] (0.195122,0) -- (0.195122,8);
\draw [color=gray97, very thin] (0,4) -- (16,4);
\draw [color=gray97, very thin] (0,5.95122) -- (16,5.95122);
\draw [color=gray97, very thin] (0,7.90244) -- (16,7.90244);
\draw [color=gray97, very thin] (0,2.04878) -- (16,2.04878);
\draw [color=gray97, very thin] (0,0.097561) -- (16,0.097561);
% Grid
\draw [rounded corners,menublue, ultra thin]
(0,4) -- (0,0) -- (16,0) -- (16,8) -- (0,8) -- (0,4);

% 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);

% 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);


% Draw Circle: playing_field:home_zone_blue
\draw [color=black,dashed, very thin] 
(13.8537,4) circle (0.97561cm);
% Draw Circle: playing_field:home_zone_red
\draw [color=gray50,dashed, very thin] 
(2.14634,4) circle (0.97561cm);
% Text Label
\draw [color=black] (1.90244,7.5122) node {\tiny
Blue Robots
};

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

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

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

% Text Label
\draw [color=black] (4.09756,2.82927) node {\footnotesize
contact
};

% 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);
% 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);
% Ship drawing: inside triangle
\draw [color=lightskyblue, fill=lightskyblue, ultra thin] 
(2.97821,5.77493) -- (3.21123,6.15175) -- (3.08712,5.72644);
% Ship drawing: left side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(2.97821,5.77493) .. controls (3.06406,6.03707) .. (3.21123,6.15175);
% Ship drawing: right side of bow 
\draw [color=black,fill=lightskyblue, ultra thin] 
(3.08712,5.72644) .. controls (3.22449,5.96564) .. (3.21123,6.15175);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.97821,5.77493) -- (3.08712,5.72644);
% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(11.0439,4.89132) -- (11.0439,4.92166) -- (10.8098,4.92166) -- (10.8098,4.89132) -- (11.0439,4.89132);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(10.8098,4.89132) .. controls (10.7348,4.90649) .. (10.8098,4.92166);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(11.0439,5.02956) -- (11.0439,5.0599) -- (10.8098,5.0599) -- (10.8098,5.02956) -- (11.0439,5.02956);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(10.8098,5.02956) .. controls (10.7348,5.04473) .. (10.8098,5.0599);
% M200 drawing: mid section or body 
\draw [color=black,fill=pink, ultra thin] 
(11.0205,4.92166) -- (11.0205,5.02956) -- (10.8332,5.02956) -- (10.8332,4.92166) -- (11.0205,4.92166);

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(11.9256,5.80883) -- (11.9471,5.83029) -- (11.7815,5.99586) -- (11.7601,5.9744) -- (11.9256,5.80883);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(11.7601,5.9744) .. controls (11.7178,6.03811) .. (11.7815,5.99586);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(12.0234,5.90658) -- (12.0448,5.92804) -- (11.8793,6.09361) -- (11.8578,6.07215) -- (12.0234,5.90658);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(11.8578,6.07215) .. controls (11.8155,6.13586) .. (11.8793,6.09361);
% M200 drawing: mid section or body 
\draw [color=black,fill=pink, ultra thin] 
(11.9305,5.84685) -- (12.0068,5.92314) -- (11.8744,6.05559) -- (11.7981,5.9793) -- (11.9305,5.84685);

% M200 drawing: left pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(4.94324,6.0139) -- (4.94851,5.98402) -- (5.1791,6.02468) -- (5.17383,6.05456) -- (4.94324,6.0139);
% M200 drawing: left pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(5.17383,6.05456) .. controls (5.25025,6.05263) .. (5.1791,6.02468);
% M200 drawing: right pontoon 
\draw [color=gray40,fill=gray40, ultra thin] 
(4.96724,5.87776) -- (4.97251,5.84788) -- (5.2031,5.88854) -- (5.19783,5.91842) -- (4.96724,5.87776);
% M200 drawing: right pontoon tip
\draw [color=gray40,fill=gray40, ultra thin] 
(5.19783,5.91842) .. controls (5.27426,5.91649) .. (5.2031,5.88854);
% M200 drawing: mid section or body 
\draw [color=black,fill=dodgerblue, ultra thin] 
(4.97157,5.98808) -- (4.9903,5.88183) -- (5.17477,5.91436) -- (5.15604,6.02061) -- (4.97157,5.98808);

% 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] 
(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);

% Draw Point: playing_field:flag_red
\draw [color=red,fill=red, thin] 
(2.14634,4) circle (0.05cm);
% Draw Point: playing_field:flag_blue
\draw [color=blue,fill=blue, thin] 
(13.8537,4) circle (0.05cm);
% Draw Line: playing_field:midfield
\draw [color=gray25, dashed, thin] 
(8,7.90244) -- (8,0.097561);
% Text Label
\draw [color=black] (6.04878,3.82439) node {\footnotesize
{$x_{os}$, $y_{os}$}
};

% Text Label
\draw [color=black] (5.37561,1.07317) node {\footnotesize
{$x_{cn}$, $y_{cn}$}
};

\end{tikzpicture}  
