No, there are no minimums specified (although there is a practical minimum), but there is one rule relevant:
Quote:
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<G29> ROBOT orientation - ROBOTS must start the match with their long (maximum) dimension in a vertical orientation. After the start of the match, ROBOTS may change their orientation such that the long dimension is either vertical or horizontal. Refer to Rule <R37> in Section 8 to determine how this affects the use of bumpers.
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To me that means that a robot must have its longest dimension in the vertical plane. This may affect low rolling "bricks", but can be easily cured with a tall, thin and flexible 'antenna' (maybe a flag holder?) that is taller than any other robot dimension.
Don