[BrianR]

I'd say hitting the goal on the move, when not moving either parallel or perpendicular to the goal, so at some other angle than dead on or straight across as those are easy to account for, but when you not only change distance to the goal but also angle to it, thats tough, we thought about it, and it turns into such a painful calculation, it's probably one of the hardest feats in this game, whether in autonomous or in human mode.