[GeeTwo]

It depends on your robot configuration and your alliance partners. If your robot is able to cross a defense both ways with equal ease, doing a triple (or quadruple) traversal to damage the defense is probably the most efficient as it reduces the need to maneuver. With defenses that your robot must pass in one direction or the other, you need to figure out whether it's quicker to pivot 180 degrees or steer over a bit and "back" over another (probably adjacent) defense. Which is quicker is a function of defense placement and your specific drive train. When you factor in an alliance partner who is also breaching, the dynamic shifts again.

As also noted above, unless you are the lone sapper 'bot on your alliance and are just driving hard for the ranking point, you'll probably want to bring boulders with you on many of your defense crossings.