Will FMS regulate all bots starting time?

Whenever I turn on our DS & bot it sometimes takes some time to acquire network addresses and establish connection between the gaming adapter and router before we can successfully start driving/controlling the bot.

I was just wondering whether anyone knew if the Field Management System would wait for all bots to be successfully enabled before starting the match?
OR does is start on a timed basis?

PS: I know we wont be using the KOP router in the competition.

See this post: http://www.chiefdelphi.com/forums/showpost.php?p=819066&postcount=15

Thanks
much appreciated