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I have run a rpi3 powered robot using a kinect or a ydlidar with navigation and they works OK add a usb camera and the RPI pegs out at %100 and becomes very slow navigation also fails. My new robot runs 3 RPI's and navigation runs on a desktop computer. I can run navigation on 1 of the RPI's but its not as smooth and on the desktop. I run a mix of Ydlidar, Kinect RPI camera and 5 Arduino's (hence the 3 RPI's)