After several months of work I was finally able to migrate Zaza's main controller CPU (zaza1) to a more recent Linux distribution/kernel. This allowed upgrading to the lastest version of BeeSoft which should help improve reliability a bit. The OS upgrade will also let us start experimenting with CARMEN, and begin the process of porting the current codebase to this fully GPLed robotic navigation toolkit.
Oh dear, it appears Arthur T. Murray has found robots.net. If you have ever been curious who this guy really is, check out this FAQ assembled by Tristan Miller, I found it rather interesting.