[EricH]

As long as you only use it for testing or "walk-through" programming, I don't think you will have a problem with the rules. If you should try to do this in a commpetition, prepare to not pass inspection.
Can you have a camera on the robot? Yes, as long as it is within the rules.
Can you have another computer on the robot, in addition to the controller? Yes, but with the following restrictions (which may be wrong): The other computer must be a "slave" to the RC. The RC is the only thing that can directly control motors and other outputs.

Now, if you could pull it off and explain how you did it (particularly if you involve students and they can explain it), you'd probably be in the running for some programming-type awards, as long as you stay within the rules.