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HERDING: Controlling the position and movement of a GAME PIECE while the GAME PIECE is not supported by any ROBOT (i.e. supported by the CRATER or other GAME PIECES). Both continuous and intermittent contact between the ROBOT and GAME PIECE are considered HERDING. (e.g. bumping, plowing or dribbling a GAME PIECE)
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POSSESSION: Controlling the position and movement of a GAME PIECE while the GAME PIECE is supported or captured by an ALLIANCE. A GAME PIECE shall be considered “supported” by a ROBOT if in the estimation of a reasonably astute observer the majority of the weight of the GAME PIECE is being borne by the ROBOT. A GAME PIECE shall be considered “captured” by a ROBOT if, as the ROBOT moves or changes orientation (e.g. backs up or spins in place), the GAME PIECE remains in approximately the same position relative to the ROBOT. Both the “supported” and “captured” conditions include the case where the GAME PIECE is also in contact with the floor.
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<G24> Handling EMPTY CELLS – ROBOTS may be in POSSESSION of a maximum of one EMPTY CELL, or may HERD a maximum of one EMPTY CELL at one time. A ROBOT may not be in POSSESSION and HERD EMPTY CELLS at the same time. A violation will cause a PENALTY to be assigned.
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And that's all she says this year.
Possession is a more restrictive form of herding - call it herding without possibility of being inadvertently released. The definitions are essentially the same as 2008's.
What is missing this year, as was noted, is a specific rule allowing bulldozing. (That term was not defined last year; something for the refs to interpret.)
I suspect that there will be a ruling that bulldozing (defined or undefined) and/or inadvertent bumping is OK. Else, this will become the new <G22> rule and contrary to what was said at Kickoff, there will be a lot of penalties.