Yes, and probably not.
You are allowed to have the Robot move any of your Equipment anywhere you want to on the board. So the Robot is allowed to leave a supporting structure in a circle.
If you use a supporting structure to put a Stack of Building Units into a circle, then the Stack does *not* earn location points (5 points per level) if the supporting structure is touching the Stack at the end of the match. Why? Mission 12 says that in order to earn location points, the Stack must be Independent, and Rule 33 says that Independent means not touching any of your team's Equipment (see Rule 02).
Steve Scherr
Virginia-DC FLL Referee Advisor