Just to clarify--the robot does NOT have to leave base to have a mission count, or to do something 
that will affect the score.  

Q&A RULING 31 – Leaving And Coming Back To Base
The robot does not need to leave Base at all. This means an active robot may activate the wheel roller 
from anywhere.
Also: The robot does not have to “return” to Base to make a mission “count” --- Results count if 
they’re still present at the end of the match. The robot only has to reach/be in Base if you’d like to 
handle it without getting a touch penalty.

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