It doesn't have to be on the outermost point, but it does have to be on the BUMPER PERIMETER which is defined by the robot's outermost points:
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BUMPER PERIMETER – the polygon defined by the outer-most set of exterior vertices on the ROBOT (without the BUMPERS or Trailer Hitch attached) that are within the BUMPER ZONE. To determine the BUMPER PERIMETER, wrap a piece of string around the ROBOT at the level of the BUMPER ZONE - the string describes this polygon. The BUMPER PERIMETER may extend up to, but cannot exceed, the maximum ROBOT volume constraints defined in Rule <R11>.
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