How is possession determined in regards to resources open to both sides?

[JesseK]

In 2010 & 2011 it was determined by the robots on the field. A bot could literally steal the tube or soccer ball from the opponent's roller claw and get away with it, even after the tube was in the air. It caused many a deflated tube in 2011.

Another question is what happens if both go after a RC, both grip but slip out, causing the RC to fall on one of the sides. Is a penalty assessed, and to whom?