Contacting a receiver who did not give a fair catch signal or contacting a receiver who has given a signal but is contacted where he cannot make a fair catch is not a foul unless the contact is judged to be a personal foul. The receiver is not afforded special protection in such situations. Members of the kicking team have the responsibility of knowing when the ball is dead. If a kicker could not have seen a fair catch signal made by a teammate of the receiver, there is no foul. However, if he could have seen the signal, he does not have license to contact the receiver.
That's from the case book comment on Rule 6.5.3.
I guess it's a foul in this case if they're near each other.
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