diff --git a/ant.world b/ant.world
index 6609f42..572e548 100644
--- a/ant.world
+++ b/ant.world
@@ -12,8 +12,8 @@ window
 
 floorplan
 (
-	bitmap "maps/cave.png"
-	size [ 16.000 16.000 1.500 ]
+	bitmap "maps/hospital_section.png"
+	size [ 64 26 1.500 ]
 )
 
 ant_bot
diff --git a/ant_bot.inc b/ant_bot.inc
index 3741c6b..54438a1 100644
--- a/ant_bot.inc
+++ b/ant_bot.inc
@@ -2,14 +2,16 @@ define ant_sensor sensor
 (
 	size [0.01 0.05 0.01 ] 
 	range [0 5.0]
-	fov 180
-	samples 180
+	fov 60
+	samples 1
 	color_rgba [ 0 1 0 0.2 ] 
 )
 
 define ant_sonars ranger
 (
-	ant_sensor( pose [ 0 0 0 0 ] )
+	ant_sensor( pose [ 0 0 0 -60 ] )
+	ant_sensor( pose [ 0 0 0   0 ] )
+	ant_sensor( pose [ 0 0 0  60 ] )
 )
 
 define ant_bot position
diff --git a/robot.cpp b/robot.cpp
index b06fa8e..1485ae1 100644
--- a/robot.cpp
+++ b/robot.cpp
@@ -1,3 +1,28 @@
+/*************************************************************************************
+ * Copyright (c) 2016, Miguel Angel Astor Romero                                     *
+ * All rights reserved.                                                              *
+ *                                                                                   *
+ * Redistribution and use in source and binary forms, with or without                *
+ * modification, are permitted provided that the following conditions are met:       *
+ *                                                                                   *
+ * 1. Redistributions of source code must retain the above copyright notice, this    *
+ *    list of conditions and the following disclaimer.                               *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,      *
+ *    this list of conditions and the following disclaimer in the documentation      *
+ *    and/or other materials provided with the distribution.                         *
+ *                                                                                   *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND   *
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED     *
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE            *
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR   *
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES    *
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;      *
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND       *
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT        *
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS     *
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                      *
+ *************************************************************************************/
+
 #include "robot.hpp"
 
 Robot::Robot(std::string hostname, uint32_t port) {
@@ -6,6 +31,7 @@ Robot::Robot(std::string hostname, uint32_t port) {
   _r_proxy  = new PlayerCc::RangerProxy(_p_client, 0);
   _p_proxy->RequestGeom();
   _r_proxy->RequestGeom();
+  _r_proxy->RequestConfigure();
 }
 
 Robot::~Robot() {
@@ -25,14 +51,16 @@ IASSS_Robot::~IASSS_Robot() {
 
 void IASSS_Robot::run() {
   _p_client->Read();
-
-  if(_r_proxy->GetRange(0) < 0.2) {
-    _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(-45));
-    sleep(1);
-  } else if(_r_proxy->GetRange(_r_proxy->GetRangeCount()) < 0.2) {
-    _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(45));
-    sleep(1);
+  
+  if(_r_proxy->GetRange(1) < 1.0) {
+    if(_r_proxy->GetRange(0) > 1.0)
+      _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(-45));
+    else if(_r_proxy->GetRange(2) > 1.0)
+      _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(45));
+    else
+      _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(180));
   } else {
     _p_proxy->SetSpeed(0.3f, 0.0f);
   }
+  sleep(1);
 }