[EricH]

If you want a Halo type system, petition FIRST to allow camera feedback, because it isn't legal to have a camera send images back.

From Section 8: The Robot:

<R64> The radio modems provided in the 2008 Kit Of Parts are the only permitted method for communicating to and from the ROBOT during the MATCH (except as noted below in Rule <R65> and Rule <R84>). Radio modems from previous FIRST competitions must not be used. The radio modem must be connected directly to the Robot Controller using one of the
DB-9 cables provided in the 2008 Kit Of Parts. No other form of wireless communications shall be used to communicate to, from or within the ROBOT (e.g. no Bluetooth devices are permitted on the ROBOT).

<R65> is Robocoach signaling devices; <R84> deals with signal filters onboard the robot.

<R85> Any decorations that involve broadcasting a signal to/from the ROBOT, such as remote cameras, must be cleared with FIRST Engineering prior to the event and tested for communications interference at the venue. Such devices, if reviewed and approved, are excluded from Rule <R64>. Note that 900 MHz camera systems will not be approved, and
are not permitted at any time.

So you must clear it first.

<R102> Teams are permitted to connect a portable computing device (Laptop computer, PDAs, etc.) to the RS-232 output of the dashboard port of the Operator Interface for the purpose of displaying feedback from the ROBOT while participating in competition MATCHES. Please note that AC power will not be available at the playing field so these devices will have to run on internal batteries.

So you can get feedback, but according to <R64>, it must come through the radio modem. Camera broadcasts must be a decoration (specifically a non-functional decoration), and I would say that if it goes to your OI for driver feedback, it is not a non-functional decoration, it is a sensor and must fit within cost restraints and be programmed as a sensor.