Beware of R16 your robot design may be too big.

[StevenB]

<R16> Once the MATCH has started, the ROBOT may assume a PLAYING CONFIGURATION that exceeds the size dimensions specified in Rule <R11>. While in the PLAYING CONFIGURATION, the ROBOT may expand up to a maximum horizontal dimension of 80 inches (e.g. all parts of the ROBOT must fit within an imaginary 80-inch-diameter upright cylinder).

A maximum horizontal dimension of 80 inches and an 80 inch cylinder don't seem equivalent at all. For example, if my robot is an equilateral triangle with a side 80", then I have a maximum horizontal dimension of 80", but I don't fit into an 80" diameter cylinder.