The goal of project is to create a vacuum robot cleaner which has a low consumption of energy. The beagleboard comunicate with another sPIC30F (120MHz) to able the robot to manage better the different tasks. To do this project i used different UNIX angstrom's libraries : RS232 library for communication of dsPIC30F, openCv library for cartography with a camera and laser. I used SSH to remote connection. I explain you further informations the next time.