[Andrew]

Another important thing keeping us from true autonomy is the inability to determine who our alliance partner is and who our opponents are.

I'm all for unstructured environments, but, three 130 lb moving obstacles makes things a little too interesting.

Classic things to do in autonomy...
1. wander around and explore
2. look for things and cluster
3. avoid obstacles
4. map

I still think a maze would be the most interesting thing that FIRST could do to make autonomy interesting.

For instance, you might have to drive out of a simple maze to start the competition. The maze would always be the same and would have a stripe to follow. Actually, it would just be a few turns, not really a maze.