Have ultimate frisbee rules changed since the inception?

Yes, ultimate frisbee rules have evolved since its inception in the late 1960s. Initially, the game was less formalized, but as it gained popularity, standardized rules were developed, particularly with the establishment of organizations like the Ultimate Players Association (now USA Ultimate). Key changes have included clarifications on fouls, the introduction of the "stall count," and adjustments to scoring and time limits. These modifications aim to enhance gameplay, fairness, and player safety.