diff --git a/src/Participant.cs b/src/Participant.cs
index bdc5c0b..4318467 100644
--- a/src/Participant.cs
+++ b/src/Participant.cs
@@ -19,10 +19,11 @@ namespace RoboidControl {
         /// </summary>
         /// <param name="ipAddress">The IP address of the participant</param>
         /// <param name="port">The UDP port of the participant</param>
-        public Participant(string ipAddress, int port) {
+        public Participant(string ipAddress, int port, Participant localParticipant = null) {
             this.ipAddress = ipAddress;
             this.port = port;
-            this.udpClient = new UdpClient();
+            if (localParticipant != null)
+                this.udpClient = localParticipant.udpClient;
         }
 
         /// <summary>
@@ -34,7 +35,7 @@ namespace RoboidControl {
         /// </summary>
         public int port = 0;
 
-        private UdpClient udpClient = null;
+        public UdpClient udpClient = null;
 
         /// <summary>
         /// he network Id to identify the participant
@@ -119,8 +120,11 @@ namespace RoboidControl {
                 return true;
 
             IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(this.ipAddress), this.port);
-            Console.WriteLine($"msg to {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
-            this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
+            Console.WriteLine($"msg to remote participant {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
+            if (udpClient != null) {
+                Console.WriteLine("sending...");
+                this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
+            }
             return true;
         }
 
@@ -165,9 +169,9 @@ namespace RoboidControl {
         /// <param name="ipAddress">The IP address of the participant</param>
         /// <param name="port">The port used to send messages to this participant</param>
         /// <returns>The added participant</returns>
-        public static Participant AddParticipant(string ipAddress, int port) {
+        public static Participant AddParticipant(string ipAddress, int port, Participant localParticipant = null) {
             Console.WriteLine($"New Participant {ipAddress}:{port}");
-            Participant participant = new(ipAddress, port) {
+            Participant participant = new(ipAddress, port, localParticipant) {
                 networkId = (byte)(Participant.participants.Count + 1)
             };
             Participant.participants.Add(participant);
diff --git a/src/Participants/ParticipantUDP.cs b/src/Participants/ParticipantUDP.cs
index c092bc8..0fde7f2 100644
--- a/src/Participants/ParticipantUDP.cs
+++ b/src/Participants/ParticipantUDP.cs
@@ -43,13 +43,6 @@ namespace RoboidControl {
         /// <param name="port">The port number of the site server</param>
         /// <param name="localPort">The port used by the local participant</param>
         public ParticipantUDP(string ipAddress, int port = 7681, int localPort = 7681) : base("127.0.0.1", localPort) {
-            if (this.port == 0)
-                this.isIsolated = true;
-            else
-                this.remoteSite = new Participant(ipAddress, port);
-
-            Participant.AddParticipant(this);
-
             // Determine local IP address
             IPAddress localIpAddress = null;
             IPAddress subnetMask = null;
@@ -80,6 +73,12 @@ namespace RoboidControl {
             this.udpClient = new UdpClient(localPort);
             this.udpClient.BeginReceive(new AsyncCallback(result => ReceiveUDP(result)), null);
 
+            if (this.port == 0)
+                this.isIsolated = true;
+            else
+                this.remoteSite = new Participant(ipAddress, port, this);
+
+            Participant.AddParticipant(this);
         }
 
         private static ParticipantUDP isolatedParticipant = null;
@@ -119,7 +118,7 @@ namespace RoboidControl {
         //public byte[] buffer = new byte[1024];
 
         public IPEndPoint endPoint = null;
-        public UdpClient udpClient = null;
+        //public UdpClient udpClient = null;
         public string broadcastIpAddress = "255.255.255.255";
 
         public readonly ConcurrentQueue<IMessage> messageQueue = new ConcurrentQueue<IMessage>();
@@ -298,7 +297,7 @@ namespace RoboidControl {
             string ipAddress = endPoint.Address.ToString();
             if (ipAddress != this.ipAddress) {
                 Participant remoteParticipant = GetParticipant(ipAddress, endPoint.Port);
-                remoteParticipant ??= AddParticipant(ipAddress, endPoint.Port);
+                remoteParticipant ??= AddParticipant(ipAddress, endPoint.Port, this);
 
                 ReceiveData(data, remoteParticipant);
             }
diff --git a/src/Participants/SiteServer.cs b/src/Participants/SiteServer.cs
index c97154a..91b0b8b 100644
--- a/src/Participants/SiteServer.cs
+++ b/src/Participants/SiteServer.cs
@@ -82,10 +82,12 @@ namespace RoboidControl {
                         if (participant == null || participant == this)
                             continue;
 
-                        PoseMsg poseMsg = new(thing.owner.networkId, thing);
-                        this.Send(participant, poseMsg);
-                        BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
-                        this.Send(participant, binaryMsg);
+                        // PoseMsg poseMsg = new(thing.owner.networkId, thing);
+                        // this.Send(participant, poseMsg);
+                        // BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
+                        // this.Send(participant, binaryMsg);
+                        participant.Send(new PoseMsg(thing.owner.networkId, thing));
+                        participant.Send(new BinaryMsg(thing.owner.networkId, thing));
                     }
                 }
             }
@@ -99,7 +101,8 @@ namespace RoboidControl {
             base.Process(sender, msg);
             if (msg.networkId != sender.networkId) {
                 //Console.WriteLine($"{this.name} received New Participant -> {sender.networkId}");
-                this.Send(sender, new NetworkIdMsg(sender.networkId));
+                // this.Send(sender, new NetworkIdMsg(sender.networkId));
+                sender.Send(new NetworkIdMsg(sender.networkId));
                 UpdateEvent e = new() {
                     messageId = ParticipantMsg.Id,
                     participant = sender