The ball chasing demonstration was designed to show that all levels of onboard architecture can work coherently. The task of the robot was to find a brightly coloured ball and keep it in the field of view. The body of the robot moved slower than the pan-tilt camera. The robot took advantage of the pan-tilt camera when the body of the robot was not pointing towards the ball. When the body of the robot was pointing towards the all, the robot would move until it reached a specified distance from the ball (about 30cm). Robots task at that point was complete. If the ball was moved the robot would chase it again. The challenge of this robot task was in synchronizing the communication between control modules as well as doing fast vision processing.