[EricH]

Originally Posted by KrakatoaCoo

after some reading......it is NOT possible as during the autonomous mode, you cant cross the center white line.

The GDC learned from 2008. Note the bolded word (my emphasis) in the following:

<G28> AUTONOMOUS PERIOD ROBOT Movement - During the AUTONOMOUS PERIOD, a ROBOT cannot completely cross the CENTER LINE. Violation: Two PENALTIES; plus two PENALTIES and a YELLOW CARD if a BALL or ROBOT is contacted after completely crossing the CENTER LINE, and two additional PENALTIES for each additional BALL or ROBOT contacted.

If a robot wanted to herd three balls through the tunnels to their own zone from the far end of the field, they could do that. Of course, they'd have to do it autonomously, but that's a "minor" consideration.