Looking at this picture

I am thinking that it will be a capture the flag-king of the hill type mission. Looking at it since there are three eyes and three fish I am thinking that the three fish are attacking (because they seem moving), over the boundary (the river), onto or near the eyes, which are guarding the banana which is the flag or what they are protecting. This is far fetched but maybe this will open some other minds up into thinking about different possibilities. And maybe, just maybe, the water under the banana symbolizes or signifies some sort of platform or some change in either terrain or either elevation or something to where your robot must overcome the obstacle and get. I am thinking that although this idea of mine is one sided, as soon as the buzzard rings, the banana is mirrored on the other side and the tables turn the other way. Also I am thinking you may have to replace the banana with something else for more points, like successfully replace the yellow banana with maybe a green or blue one and the banana's will be different colors for different points and maybe more than one in many locations, similar to the tetra theme, but also very different with the style this game is played.
For autonomy I am also thinking that maybe, just maybe you will have to capture the banana and that is just basic thought at the moment.
Pavan.