[BHS_STopping]

If I remember correctly, back in 2006 during "Aim High", during an alliance's defensive phase only two robots could be defending their goals at any one time. Even if a defensive bot somehow fell over or was disabled, the alliance's third bot couldn't cross over to the other side of the field or else an offsides penalty would be incurred. My best guess is that the same rule applies here; if your alliance's far robot becomes disabled, then another robot cannot come in to defend either. Take that with a grain of salt though! Best get this figured out in the FIRST Q&A.