The VUB AI-lab team is mainly interested in the two loosely linked aspects of on-board control and heterogeneity. One major effort for forstering both aspects within RoboCups small robots league is our development of a so-to-say robot construction-kit; allowing to implement a wide range of players with on-board control. For the 99 competition; the existing RoboCube controller-hardware has been further improved. In addition; some solid and precise mechanical building-blocks were developed; which can easily be mounted on differently shaped bottom-plates. On top of these engineering efforts; we report here a computational inexpensive but efficient algorithm for motion-control; including obstacle avoidance. Furthermore; we shortly address the issue of increased diffulties of coordinating so-to-say multiple teams due to the possible variations based on heterogeneity. Operational semantics based on abstract data-types and patter matching capabilities can be a way out of this problem.