Phase 1: Display tracks as seperate, one colour + intensty Prevent collision between tracks display loop of every step with history create a simple homing mechanism Phase 2: change Alfs to use ellipses instead of points test option of displaying bounding boxes around make movement use radious, distance parameters instead of grid rotate ellipses with movement change collision detection into perception behaviour Phase 3: export positions of BB into *.trk file allow reading in positions Phase 4: Code O-U movement