[Alan Anderson]

Nowhere is it written that you have to limit autonomous robot actions to the "autonomous mode" portion of a match.

Many teams successfully targeted the high goals autonomously in the 2006 Aim High game. Some teams used autonomous tracking in Lunacy to zero in on opponents' trailers during teleoperated mode. There was an autonomous bump traversing mode in the TechnoKats' Breakaway robot that used an inclinometer to deploy and retract outriggers at the appropriate times. Lots of teams this past season used semi-autonomous behavior to position tubes for hanging in Logo Motion.

If you want the challenge of more robot autonomy, just do it.