[Ben Martin]

I would make the sally port and drawbridge transparent. My preference would be to eliminate the portcullis and drawbridge completely, but that might be too drastic a rule change.

Some language to eliminate the transferring-balls-without-completely-crossing-a-defense penalties while still preventing the existence of 'defense-straddling bots' would be nice.

Some language to not penalize robots that inadvertently push a second boulder over a defense when crossing when the second boulder previously started in a defense would be nice.

I would also investigate incorporating a static or non-team-selected defense lineup to help with the space constraints (and matches would go very quickly without having to change all the defenses all the time), but I haven't done any analysis on the impact of this yet.

Add a ref in each human player station watching ball counts