In the Middle size league, two teams of up to 5 robots play soccer on an 18x12 meter indoor field. Each robot is equipped with sensors and an on-board computer to analyze the current game situation and successfully play soccer. Through wireless communication they can establish inter-team cooperation and receive all referee commands. But no external intervention by humans is allowed, except substitutions. MRL middle size team has started its work at Mechatronic Research Laboratory of Azad University of Qazvin since Aug 2003. This team aims at establishing an intelligent control method for autonomous multi-robot systems in dynamic uncertain environment. MRL has begun the research and work in MSL since 2004. Our first official participation was during RoboCup 2005 competitions in Osaka and then RoboCup 2006 in Bremen. We optimized hardware, control and software system for RoboCup 2008 and designed robust system for RoboCup 2009 in Graz. After taking second place in RoboCup Dutch Open 2012 ,we managed to get second place of RoboCup tournament in Mexico City.