diff --git a/NetworkSync.h b/NetworkSync.h
index 0ac983f..f732e74 100644
--- a/NetworkSync.h
+++ b/NetworkSync.h
@@ -42,6 +42,8 @@ public:
 
   void PublishTrackedObjects(SendBuffer sendBuffer, InterestingThing **objects);
 
+  virtual void SendPosition(Vector3 worldPosition){};
+
 protected:
   NetworkPerception *networkPerception;
   void PublishTrackedObject(SendBuffer sendBuffer, InterestingThing *object);
diff --git a/Roboid.cpp b/Roboid.cpp
index ea41c3e..f5a1384 100644
--- a/Roboid.cpp
+++ b/Roboid.cpp
@@ -2,6 +2,8 @@
 
 #include "NetworkSync.h"
 
+#define RC_DEBUG
+
 #ifdef RC_DEBUG
 #include <Arduino.h>
 #endif
@@ -10,12 +12,19 @@ Roboid::Roboid() {
 #ifdef RC_DEBUG
   Serial.begin(115200);
 #endif
+  this->perception = new Perception();
+  this->perception->roboid = this;
+  this->propulsion = nullptr;
+  this->actuationRoot = nullptr;
 }
 
 Roboid::Roboid(Perception *perception, Propulsion *propulsion) : Roboid() {
+  if (this->perception != nullptr)
+    delete this->perception;
   this->perception = perception;
   if (perception != nullptr)
     perception->roboid = this;
+
   this->propulsion = propulsion;
   if (propulsion != nullptr)
     propulsion->roboid = this;
@@ -34,8 +43,10 @@ Roboid::Roboid(ServoMotor *actuationRoot) : actuationRoot(actuationRoot) {}
 void Roboid::Update(float currentTimeMs) {
   if (perception != nullptr)
     perception->Update(currentTimeMs);
+
   if (propulsion != nullptr)
     propulsion->Update(currentTimeMs);
+
   if (networkSync != nullptr)
     networkSync->NetworkUpdate(this);
 
@@ -55,6 +66,9 @@ void Roboid::SetPosition(Vector3 newWorldPosition) {
   Polar polarTranslation = Polar(angle, distance);
   perception->UpdatePose(polarTranslation);
   this->worldPosition = newWorldPosition;
+
+  if (networkSync != nullptr)
+    networkSync->SendPosition(this->worldPosition);
 }
 
 void Roboid::SetOrientation(Quaternion worldOrientation) {