There's nothing in the description of the Challenge ability that states that you can't have more than one foe challenged at any given time. Like for example, suppose a 8th level Cavalier is fighting 3 enemies, then over the course of 3 rounds, by using 3 separate swift actions, he'd be able to challenge each one of them, and get his bonus damage against all three. Is this correct, or has this been Errata-ed?
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I would say this would apply "Challenging a foe requires much of the cavalier's concentration. The cavalier takes a –2 penalty to his Armor Class, except against attacks made by the target of his challenge."
If nothing else the -2 to AC would stack, so challenging 3 people would make a -6 to anyone else who joins the battle. I would table rule that it wasn't allowed, because of the concentration needed.