beaglebone and turtlebot

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Since I had to offload most of the computation done for a project I'm working on to another computer, I wanted to substitute the netbook I'm using right now on my homebrew turtlebot with a system on a chip, like the beaglebone black. I wanted to know if it was enough to handle pretty much just the kinect and the serial interface to the Create, or if I had to consider other systems. From what I've read, it seems like it would be better to use a dual core SoC, like the pandaboard, but it would cost me more than using two other "smaller" SoCs, so another possibility I was considering was to use more than one board and further distribute the nodes among them (eg, one board dedicated to the kinect and the other to the create). Can anyone offer some advise?