[omalleyj]

This is an interesting thread, but 6 pages in, shouldn't there be more focus on solutions?

I see two core requirements:
1) the ability to adapt to alliances with widely varying capabilities
2) the ability to coordinate play with little or no time to strategize (and none at all to practice)

I think both of these point to doing a lot of up front planning, and then socializing those plans.
Sports analogy: every team has different plays, but most have common elements. If I am playing touch football I know what a square out is. Whether I have never met the other guy, whether I am playing qb or wr, a 10 yd square out is understood by both, and can be practiced separately.

It could be as simple as a published playbook for a variety of common situations, and an agreed terminology.

(Maybe I'll do some football style diagrams later, when I have something better than MS Paint)
play 001, Rolling Wedge:
3 herder robots against heavy defense
Form a right triangle against the inbounding zone wall
Inbound to robot at 90
Robots move as a group to center
Robot at 90 switches off with robot on its flank
Robots move as a group to scoring zone
Robot on point opens up a lane, robot with ball pushes it down the lane
Robot on point slides in behind the ball and pushes it into the goal

...
play 093, Pick and Go
2 Shooters, 1 Blocker, against moderate defense
Shooter1 and Blocker in inbounding zone, Shooter2 other side of truss
Blocker holds off defender from Shooter1 until in passing range
Shooter1 passes to Shooter2
Blocker moves scoring zone
Shooter1 moves to middle zone and stops setting a Pick
Shooter2 uses pick to shield a move and pass to the Blocker
Shooters both move to scoring zone
Blocker passes to whichever shooter is open
Shooterx shoots
...

Look at the alliance and opposition and downselect to the 'plays' that are appropriate, so that every match isn't reinventing the wheel.

I tried to focus on examples that used all 3 robots on offense, rather than sending someone away to defend, which seems to be a bone of contention. A decent blocking robot can neutralize a better defender just by being in between them and the action. That would be more desireable against opponents with long cycle times or inaccurate shooters, than defending.

Each team could focus on and develop schemes that play to their strengths. Everyone should practice close passes, long passes, human passes, etc., not just shooting. And be prepared to play any position they are capable of.

My, rather wordy, two cents.