Rule G12, blue box, makes it pretty clear.
Quote:
Examples of BALL interaction that are not POSSESSION are
A. “bulldozing” (inadvertently coming in contact with BALLS that happen to be in the path of the ROBOT as it moves about the FIELD) and
B. “deflecting” (being hit by a propelled BALL that bounces or rolls off the ROBOT).
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Note that the definition of "deflecting" has nothing to do with motion of the robot. The red robot of the OP's diagram can be deliberately moving into the path of the ball, and it's still a deflection. So, no penalty.
But, if the red robot chases the blue ball and bumps it again, that could be interpreted as Herding, which is Possession, and that would get a penalty.