I just wanted to say that Roborealm looks like a very nicely done set of tools for exploring robotics and vision. I haven't had a chance to play with it yet, but it is something I'd like to do.
The team is nearing completion of a new firmware for the SRV-1 that provides low-level, low-latency parallelism on the Blackfin-based Surveyor. Some excellent work has been done by Carl and Jon on this port, and I'm very excited to see it in the hands of students this semester.
When we release that documentation, I'll also release the tutorial booklet that students used on the LEGO Mindstorms at the start of the term. It provided a questions-first introduction to occam-pi on the Mindstorms RCX. These documents, taken together (and iterated/revised a bit) will provide, I think, an excellent introduction to the design of concurrent and parallel algorithms for robotic control on some very cool platforms.
Watch this space!