I would go to ARC and find the specifics of what would be allowed in the right of way. We also have a 20 foot right of way at the back of our house, left it in grass. I at the time we built I asked about hedges to match some that were nearby, and was told NO. Remember this is a right of way, so some time in the future you may find construction equipment and workers in this area. Personally, I would leave a grass, and then have a low wall OFF the right of way close to the pool to block grass clippings and irrigation water from getting into the pool.
On a side note, you state the wall etc were not a concern. IMHO, I would double check to see if this area is fill, if so I would be very concerned about a pool located in an area that was "fill", settlement could pose a lot of problems from minor leaks to major cracks. While doing the pool later will probably have a year to 18 months lead time, it would give you time to see if there are any problems in this area.
I wish you a lot of luck on your plans.
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Pennsylvania, for 60+ years, most recently, Allentown, now TV. 
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