Well if your team has more points and enough to still beat the other team even if they get all 3 robots on the ramp meaning you need a minimum of 25 points more than the other team (you get 25 bonus points if all 3 robots are on the ramp at the end of the match.
Sooo lets say team blue has 100 points and team red has 85.
Team blue is ahead by 15 points. But they have a harvester with enough room for all the balls.
So they collect all the balls with about 15 seconds left.
They drop off the balls in one of the corner goals and the human players don't throw them out or anything, they just stay there.
So team blue gets about 20 points or so and also gets the 25 point bonus because of all 3 robots.
So if all works well team blue wins by 20 points
This is just a small example in a nutshell of course something else can happen.