* Introduced Overlapping (Can be toggled during execution but the robots need some distance for the change to become active. (E.g. if they are already nearly colliding, the toggle may not work until they got some distance again)
* Fixed Assertions to be swallowed
* Introduced Accuracy for Movement (orientation alignment before moving)
* Introduced localtime to differ from global
* Created 'MessageQueue' to implement a new message model later (until now it only outsourced the old code)
* Introduced 'Message Failures'
* Some Algorithms but they are not the best and not implemented and tested that well. Only as a beginning.