If you choose not to pay attention to the momentum of a robot or game pieces, that is your choice, but it is a piece of info that predicts future location. As noted, your measurements will lag. You can minimize the lag, but you cannot eliminate it. Knowing the amount of lag will give you a confidence interval on object locations.
RoboCup allows teams to use an omni cam for some of its levels. Those robots are super nimble and fast as well. See
https://www.youtube.com/watch?v=6Bch...ocW BtQthSwqx for an example.
The level of swarm play in robocup is very inspiring. Yes it would be cool to incorporate it into FRC, but it is quite difficult, much harder than you make it sound. And the availability of data for the programmers to practice on remains my biggest issue.
I believe the robocup teams are required to mount their own camera. Perhaps your team could incorporate it similarly.
Greg McKaskle