[EricVicenti]

I think the problem with herding is that in many cases it is mathematically unwise to herd. If the ball is left on the overpass for the entire match, it gains 12 points, so to compensate for the 12 points that you likely loose by using the ball at all, you need to do 6+ herds.

This is of course operating under a number of assumptions. For one, it assumes the opposing alliance would not knock your ball down by the end of the match.

I remember one team during a practice match at SVR lost against nobody because they knocked down both of their color balls and made 2 laps. Because the 2 opposite color balls remained, they lost 24-4.