The aerial robots have demonstrated the ability to launch completely autonomously in past missions, so it was deemed a step backwards to allow them to enter under manual control and then switch over to full autonomy. This was initially done as a convenience, but was found to cause confusion as to exactly when a team "went autonomous". Since the autonomous takeoff has been demonstrated in prior Missions, it was decided to eliminate the run start confusion by requiring a behavior that has been well established.
There was also chaos regarding where teams started, so to allow some flexibility while adding structure to the launch procedure, we designated the four corner squares as the launch points. The reference on page 7 section 2 was missed in the prior revision and we'll fix that if we find another major error/inconsistency, but since each of the corner squares bound a "white side of the arena" on one of its sides, you will be launching from a "white side of the arena" if you launch from one of the four designated squares.