[Taylor]

There is the Red Alliance (three teams) vs the Blue Alliance (three teams) in each match. The teams on an Alliance are teammates. Each team on an Alliance gets the same qualifying/coopertition/etc. points after the match (unless one is disqualified - then that offending team gets 0. Don't get DQed.). During the qualification rounds, the team assignments are "random". Your opponent one match may be your ally the next.
After the qualifications are finished, based on the win/loss ratio (and other algorithms, outlined in Section 5), the top teams then get to pick who will be on their alliances for the duration of the tournament. These are the elimination rounds, and the alliances are set from there on out. Your partners are your partners and your opponents are your opponents.