With regards to bouncing off the arena walls and back in, I think the antweights guys go with the guideline that unless the robot hit the deck/moat during the time it was airborne, it's still classed as active when it bounces back into the arena.

Maybe something worth considering, especially factoring in the power level of robots these days. It's probably pretty confusing for the audience too.

Might be worth a new thread if there's a need to debate it.