Look at the definition of herding:
Quote:
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HERDING – controlling the movement of a GAME PIECE. A GAME PIECE shall be considered HERDED if it is in contact with the floor and, as the ROBOT moves in the direction of the GAME PIECE, the GAME PIECE is pushed in the same direction in a controlled manner, but does not remain in the position relative to the ROBOT if the ROBOT changes direction or orientation.
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(The parts about changing direction are to differentiate HERDING from POSSESSION.)
How "in a controlled manner" is interpreted will determine if this is a problem or not. The blue box under <G34> notes that inadvertent contact will not be considered HERDING. Clearly this would apply to a simple side-swipe as you go past a GAME PIECE. The question is whether driving directly at a GAME PIECE would be considered inadvertent or not.