Sure! Why not? It even looks like Clara will be getting her Maid Marian on while she learns archery from one of the all-time-greats.
Robin Hood's Merry Men make an appearance, and I think we can even spot Friar Tuck! What we don't know is if they're really human.
The Doctor is called to Sherwood Forest when Nottingham is in danger from an evil plan (does he deal with any other kind?!) and "with all of Nottingham at stake, The Doctor must decide who is real and who is fake," according to the official synopsis from BBC.
"Do impossible heroes really exist?" Well, there is an impossible girl, and there is The Doctor, who is quite impossible himself, so why not of the hero variety?
Robin Hood: Whatever it is, you bony rascal, I'm afraid I'm must relieve you of it. The Doctor: It's my property. That's what it is. Robin Hood: Don't you know all property is theft to Robin Hood? The Doctor: You can't be serious. Robin Hood: I am many things, sir, but I am never that. Robin Hood laughs in the face of all! Ah ha ha ha haaaa! The Doctor: Do people ever punch you in the face when you do that? Robin Hood: Not as yet! The Doctor: Lucky I'm here then, isn't it?