Active Vision and Visual Attention

Consider the following two situations:
Situation S1: The robot has lost orientation and does not detect the ball.
Situation S2: The robot can see the ball and the opponent goal.
In situation S1 it is important that the robot finds the ball. This can be accomplished by two means. The first is that it searches the ball. The second is that another robot sees the ball and informs it. When deciding on the first possibility (searching) the robot has to know, where it is located on the playing field, since otherwise it would crash with the border when searching. Therefore, in situation S1 localization is an important issue.
In contrast, in situation S2 the robot has not to care about localization but can concentrate all the computing power to exactly determine and track the position of the ball and the goal (in particular a free gap in the opponent goal) relative to its own position. Therefore visual attention and active vision are very important topics.