Integrating Omnidirectional Perception and Drive in the Body of a Soccer Robot Enrico Pagello*† Emanuele Menegatti* Tommaso Guseo Francesco Favaro Enrico Ros Intelligent Autonomous Systems Laboratory Department of Information Engineering The University of Padua, Italy †also with Institute of Biomedical Engineering of the National Research Council (ISIB-CNR) Padua , Italy E-mail:*{epv,emg}@dei.unipd.it