Targets

Reduce the used match time needed to substitute robots
Teams should be encouraged to substitute quick and only do substitution
Teams should be encouraged to make their robots more reliable and use automatic substitution, if possible.

Constraints

Teams always need to be able to substitute robots. There can not be a hard limit
It must be safe for robot handlers - teams should not be encouraged to move as fast as possible
Automatic substitution during a match is always preferred

Give teams 5 free substitutions per halftime
- In FIFA, five substitutions are allowed
Each substitution gives the team a time budget of 10s to substitute as many robots as they like. If they do not stop the substitution in time, a new substitution is started.
Introduce a new foul game event that is raised, when a team starts a substitution and the free budget is used up.
- The foul increases the foul counter
- The foul results in a free kick for the opponent team
- If both teams perform robot substitution in the same stoppage, the original command is issued instead of the freekick
We will evaluate the numbers in upcoming regional competitions and may adapt them for RoboCup