[ToddF]

They could clarify things by introducing the concept of "right-of-way". In other words, the owner of the secret passage has right of way in it. A red robot may be in the blue secret passage if no blue robot is present. If there is robot to robot contact in the blue secret passage, the red robot receives the penalties because the blue robot has the right of way in their own secret passage.

<My opinion, not clear from the rules> Likewise, as the owner of the castle, a blue robot has right of way in their own courtyard. If they decide to park in front of one of the batters, to prevent a red robot from challenging the tower in that location, they have the right to do so, and should not be cited for a G28 violation if a red robot runs into them. If, however, the blue robot runs into a red robot during the last 20 seconds, they may be cited for G28.