In the picture the laboratory's demo process is presented. There's a pump, which cycles the water inside. White balls symbolize the positions the robots recognize and to which they can return. Positioning is a challenging task in this study, especially the 3D positioning. More accurate positioning methods are under development. For the moment the positioning is done with a feature based positioning system. This system gives a rough estimate of the robot's position by analyzing / interpreting sudden changes in the pressure signal matching to the process layout as a kind of "feature beacons". The most reliably recognized features form a graph of the process that can be used for navigation. Additionally, tilt sensor can provide information and landmarks.