There is no later version since 2009, but there actually is a preliminary 2009 version that is often used.
My son was Chief Engineer for Team 2974 and wrote an open-source version we call O!FMS. We have a full frc field and run off-season scrimmages throughout the year (
https://sites.google.com/a/waltonrobotics.org/de/). O!FMS was used successfully at all of our scrimmages this year and was also used successfully by GA FIRST at its annual off-season competition at the World Congress Center in Atlanta (30 teams). We have discussed this with US FIRST and are in the process of sending them a copy to review.
We are eager to share this technology with other operations and would be happy to provide you with the software and documentation, and assist you with testing.
My son will post a reply as well and can pick up on the discussion. Good luck with your event!