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2 vs 0 vs 2 vs 0
I think a lot of folks missed many of the subtleties of the 2001 game. It was my favorite game and maybe someday I will write a white paper with my thoughts on it.
How about splitting the field in half and have two alliances 2 vs 0 going on simultaneously and competing with each other. It could be a complex problem requiring good cooperation between the 2 robots and maybe have a sliding time factor figuring in the scoring. It would be sort of head to head but the two alliances do not come into contact with each other. I haven't thought this trough, but I throw it out there as a brainstorm idea.
Regards
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