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You keep saying "change the alliance setup," but i'm suprised no one's ever thought about a 1 on 3 game.
Mabye like this: one end of the feild is the scoring zone for the one robot and the others have to stop it from getting there. have some special terrain of sorts (Make it so the lone robot can have 4+ ways of getting up to the scoring sone (stairs, etc.)). Add in some other ways of scoring, mabye moving a large cube onto one end of the feild or something. The team of 3 get the number of second it took the other robot to sit fully on the end for a score, and have the one robot get 120 - his time in secs. for a score and voila. game=designed.
It's be interesting because one match you may be a defender, and next time, you could be on the offense.
Finals with that would be a little odd, though.
Sorry, I'm just rambling a bit.
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