This is not allowed. As easy as that
The reason it is not allowed is because teams may "optimize" their route based on what the maze looks like. If it has more victims to the left or right, and other difficulties the humans can see beforehand. You give the robot information. And all information is forbidden.
But it is almost impossible for us to check. When we read through the code you submit we try to analyse the algorithm and what wall-preferences the robot have. When the robot is running we try to compare to see that it is the same behaviour. But this is not an easy task...
When I was participating in Maze 2010 we did select based on the layout of the maze (but the rules were not as strict as they are today about it).
We try our best to look for this, but we will certainly miss it sometimes. It is up to all teams to participate as fair as they can. And you should not change anything to your program based on what you have seen in the maze. Another solution would be to cover the maze with a ceiling or move it to another room where no audience or participants are allowed before their run.
What is easier for us to detect is if a robot is first following the right wall and after a LoP following the left wall. That is suspicious. And we may reduce their points from that run (or disqualify them from that run).
Do not try to do this, it will only give us in the organization problems
// Fredrik Löfgren, TC and OC member 2016 / 2017