Dynamically reclaim Striker

[schmidma]

A thought on advancing role assignment:

A robot could actively re-announce its striker role if the situation changed significantly (ball moved away, or even to another robot). Such a striker announcement allows other robots to counter-claim striker quicker, than waiting for the usual 2 second re-transmit interval.

This needs careful thoughts on handling messaging budget, but also seems like a strong improvement of quicker striker decisions for a supporter being closer after the striker had a dueling situation.