[Oblarg]

I'm not seeing the issue here - this reads, to me, like the GDC saying "don't plan on running into a defending robot during the last 20 seconds for the purpose of drawing a penalty per G28, as doing such is a violation of G11."

However, it says/implies nothing at all about contact with a defending robot in pursuit of a legitimate game objective. From the way I've seen these rules called before, there's no way doing that would be ruled a violation of G11 - if anything, the defending robot would likely still receive a G28 as, even without explicit action, their positioning forces robot-robot contact with any robot attempting to challenge or scale.

Yes, this is a judgment call by the refs, but I don't think it's a difficult one to make and am not worried at all about it.