[GeeTwo]

Let me propose an adjustment: docking time from the offending team and/or alliance. This would provide the "offended" alliance with a number of unopposed seconds, but would not lengthen the match schedule. Depanding on how detailed the penalties could be applied, this could be assessed to an individual robot or a whole alliance, either at the moment of assessment, or as a shortened time at the end of the match, through a disabled state. As a way to penalize fouls in the closing seconds of a match, any penalties or portions of penalties which cannot be assessed against the offending teams may be applied as additional seconds for the offended alliance. That is, if red commits a "15 second" offense with only ten seconds left in the round, red is disabled instantly, and blue is given five extra seconds to balance the penalty. Assessing penalties this way should add only a few seconds to any given match.