@Denki: pls remeber the last pos of the find near an beacon and search form there...cause when the little bots are more away form the mid-point (where the beacon is) they e.g. go on the top and the down and then top...go on go on and that is really anoying cause the battery drain...
i hope i could discribe my problem/idea in hopefully good english...forgive me ;D
Finki