[apalrd]

You could literally grab it, and have a pushing battle back to score it, or something like that. I can see extreme speed and extreme pushing power being key, to push through the defenders and then race to score it.

You could have multiple flags, on each side, with each team having a zone, and the more flags you get the better. There would be defense to prevent flags from being achieved, offense to get the flags, and maybe even a little stealing already scored flags and bringing them back where they belong.

What would the flags be? How about a ring made of small-diameter PVC and 4 elbows, spiked onto a post. You could even have different ones of different values, the toughest and largest prizes there are fewest of (and are the hardest, most guarded).

Field and play:
"your flag" means the flags you are guarding and they are trying to score.
"their flag" means the flags they are guarding and you are trying to score.
standard size field. Alliance wall has box, 18" tall by 24" deep across the entire width of the field. On the top there are pegs where the flags you are guarding and the opposing alliance is trying to get are. On the wall there are pegs for you to score. 9' out there is a line. There are 12 flags and 12 flag holders. No more then 2 of their flags scored per peg. There be no more than two of your robots (defense on your flags or scoring their flags) and one of their robots (attempting to capture your flags) in that zone 9' from the end of the field. Anyone can be in the middle zone. At the start of the match, each robot starts touching the box in their home zone. At the center of the field, there is a dividing line where one bonus flag exists. It is a different color. It starts exactly in the center of the field. It is owned by nobody at the start.