This book includes the thoroughly refereed post-conference proceedings of the 13th RoboCup International Symposium, held in Graz, Austria, in June/July, 2009 - representing the core meeting for presentation and discussion of scientific contributions to a variety of research areas related to all RoboCup divisions (RoboCupSoccer, RoboCupRescue, RoboCup@Home, and RoboCupJunior). The 22 revised full papers and 17 revised poster papers presented were carefully reviewed and selected from 112 submissions. The contributions provide a valuable source of references and inspiration for R&D professionals interested in robotics and artificial intelligence.