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The intel NUCs are a very good out-of-the-box solution. An i7 is plenty of power, but the i5 versions usually are good enough for most people. Just be sure that you are not limited by the accessible ports. Think of how many USB, LAN, etc, or other ports do you need? If you use many cameras, the USB ports could be a limiting factor if they are controlled via the same host controller.
Otherwise any custom build using mini-ITX offers a bit more flexibility. Then you have a choice of dual LAN ports, multiple USB3.0/USB2.0 host controllers, etc.
In our youBot, we upgraded the internal PC using the intel DQ77 mini itx, which is sadly not for sale anymore. But similar options with the newer generation processors should be available.
To power it from batteries, we use the mini-box openUPS which can switch seamlessly between Battery and external Power, and charge LiPos and other batteries, when connected to power.
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