All,
There has been an addition to the "pausing in base issue" from Scott Evans at FIRST.  He does allow a pause as a restart method, so that is allowable.  See his note below (thanks Steve).  Please be aware that Scott cautions that the robot must not be in contact with the team members and must be motionless at the point the program resumes.
 
Sorry about confusion.
 
Karen
VA/DC FLL Head Referee
 
(Question)
Is it legal to start mission #1 from base (touch the brick to start the program),
have it do mission #1 COMPLETELY,
have it automatically come back to base (or it never leaves the base),
(the program then pauses for 3 seconds while the driver repositions the robot for the next mission and lets go without initiating another program),
then the robot performs mission #2 by going out of and coming back to base?  (A touch sensor is not an option right now)
(Scott's Response)
Certainly.  This satisfied the requirements of the starting position and starting procedure rules:  Totally in Base, motionless, hands off...  Then the driver reaches down and starts the program (or as in this case, the program starts by itself), and then hands off again as it's active and doing its thing.
 
(Question)
The driver would be touching the robot in base while the program itself pauses autonomously - the driver would not have to press a button to initiate the next program.
(Scott's Response)
The driver needs to show that he or she is not doing anything with his or her hands while the program is starting.  Best practice would be to position it and then let go of it for the last second or two before the program restarts.
 
(Question)
I would think this could be done for all missions if a team wanted to.
(Scott's Response)
You're right.
 
(Question)
Then they would have one big program and not have to hit any buttons if they timed the transition correctly.
(Scott's Response)
True.
 
(Question)
There are a pair of responses on the forum
one says yes
one says no, because the start rule lists only a team action--push a button or signal a sensor
 

(Scott's Response)

It says you MAY touch to start---That doesn't mean you have to.

 
(Question)
I'd like to say that this is allowable this year, since the "internal time sensor" is being signaled, but warn the teams that the robot has to be clearly seen by the referee to be motionless both before and after the repositioning, or another restart will be necessary, which is hard to do unless they can access a new program.
Was it your intent to disallow this type of activity this season?
(Scott's Response)
It has always been intentionally allowable
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