This book constitutes the proceedings of the 27th RoboCup International Symposium which was held in Eindhoven, The Netherlands, during July 15-22, 2024. The 34 regular papers included in these proceedings were carefully reviewed and selected from 58 submissions. The technical challenges brought on by the RoboCup initiative motivate novel scienti c and engineering strategies for developing complete, advanced robotic systems. The RoboCup Symposium fosters the sharing of these approaches and advances the science of robotics by enabling building upon the progress of others. This book also presents contributed technical papers from the champions of the 2024 competition's constituent leagues. These papers describe the key approaches necessary for winning the respective competition.