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If each team gets their own score, that will only make matters worse. If you say "I won't touch your stacks if you don't touch mine," it is all the easier to say yes, and you will ALWAYS reap the benefits in that case. You no longer would even have to worry about winning the match.
The best idea I can come up with is to just go with a scoring system similar to all sports out there: 2 (or 3) points for a win, 1 point for a tie, 0 points for a loss. That way, maximizing points for both sides doesn't help both sides, and immediately stops any possibility for collusion. Then at the end of the competition, points are used as a tiebreaker (e.g. 3 teams are undefeated at the end of competition, and whoever has the greatest point differential is in first).
Of course, in the larger competitions where teams don't play as many matches, the number of teams tied at a certain position increases, placing more emphasis on points, but at least there is less emphasis than there is now.
Also, SGK, the 10 second human player limit is for autonomous mode. If you are not back in 10 seconds, your robot does not start its autonomous. If you get back within 15 seconds, then your robot does not start in autonomous mode, but DOES start in remote control mode. So, all of the teams who did not have an autonomous mode programmed in their robot did not have to worry about getting back in 10 seconds, and thus took their sweet time, and just make sure they got back before the 15 seconds were up.
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