This is a legal and viable strategy. However, if you have a manipulator that can "shoot" a Ubertube without breaking the lane plane, and program your robot in autonomous to do that, why wouldn't you just score on a high peg? there will be plenty of game pieces on the floor during teleop that could, and will, wind up in the lane. This game has been designed to emphasize offense. It's hard to be defensive when you're behind. Scoring during autonomous can give an alliance huge advantage at the start of a match. Then, there are two other partners to contend with as well that can help clear the lane.
PS The lead robot (
175,1519, and 176) at GSR, didn't didn't pick up from the floor during quals or elims, seeded 3rd, and then went on to win the Regional.