[Kris Verdeyen]

When I breach, your secret passage is no longer protected. I can get returning boulders with impunity, and cross back to the neutral zone without negotiating a defense.

This has the following advantages:
- it encourages faster breaching.
- it encourages higher scores
- it gets rid of some penalties
- it fits the theme

This can be combined with many of the other permutations mentioned (forcing three crossings, crossing all five for a breach, doing away with ranking points, etc).

You might also remove the one defender limit when the walls fall, if you want to force teams to be more strategic about it.

Look at it like this - whatever you do by forcing additional crossings is still going to be easy for IRI teams to do in two minutes. Anything that's reasonable enough to be implemented will still happen every match, it will just take longer and we'll end up with less scoring. This wil make fast breaching more important while still keeping the focus for the audience on robots shooting balls.