The draft rulebook for the RoboCup@Home competition in Nagoya 2017 is: 2017_rulebook.pdf.
Rules for future RoboCup are mainly discussed in the GitHub repository, ass well as in the Google group http://groups.google.com/group/rcathome?hl=en-US
. Everybody is invited to join this group and to bring a contribution to the rules.
The rulebook is developed on GitHub