Up to now, I was always using ATMELs ATmega and ATxmega microcontrollers. These are programmed in BASCOM-AVR, a very effective and fast programming language. Graphical user interfaces on computers that communicate and interact with the robots are typically programmed in VB.NET.
I am absolutely convinced by microcontrollers and their abilities. It seems like everything one could ever imagine can be realized with these little marvels.