I have gotten more work done on the program.  The pheromone value is now being communicated between the robots.
I have also added whiskers to two of the robots and I am thinking of using the whiskers instead of ir pairs.
I have learned this week that adding a pause between transmissions can greatly reduce errors. The robots will 
now go on a path to find food, then turn around and return to the nest.  I have also starting to look at cmucam java
gui to deterimine how streaming video can be taken from cam and processed.