[Andrew]

G100a Entanglement during a match If two or more robots become entangled during a match, the referee may disable them in order to prevent damage to the robots. In such an event, all robots involved in the entanglement will be disabled.

G100b Repeated Entanglements at one event If a robot must be disabled due to entanglement on more than one occasion due to the same device, the referee will require the entangling device to be removed or modified and the robot re-inspected.

G100c Repeated Entanglements across events If a robot is required to modify a mechanism due to entanglement, this information will be passed to the inspectors at the next event.

Analysis This year, we seem to have had a lot of arms with "loose" wires and arms with hooks. This is a formula for accidental entanglement. Sort of like velcro, both the hooks and loops were responsible for the entanglement. Loose wires need to be more effectively tied back and shielded (like the tether bots in 2002) even though this means additional weight. Hooks might be required to be tucked when they are not specifically being used.

G100d Deliberate Entanglement or Grabbing If a robot uses a mechanism to restrain another robot by grabbing or holding, the referee will warn that robot after 10 seconds to release the other robot. After releasing and backing away, the robot may initiate another grab. Failure to release after being instructed to back off will result in a 10 point penalty. For each 10 seconds that the robot fails to back off, an additional 10 point penalty will be assessed.

Analysis This is similar to the pinning rules (which also probably need a revision). Rather than going with a DQ, a cumulative 10 point penalty is assessed. This would have the effect of a DQ on most teams. However, a team may deem it worth a 30 point penalty if they already have a large lead and want to immobilize an opponent for the last 30 seconds of a match.