Robot swarming has been done for quite some years now. However, creating a very large swarm can become very difficult, since the networking becomes complex. With small swarms, a robot can broadcast information, or a central node can coordinate the robots. However, when a swarm becomes very large, these techniques fall short. Broadcasting all information is too much to be evaluated by every single robot, and a central node can't control it as well. In this research, we have looked at how nature works and tried to find a solution by mimicking its behaviour. In nature, animals stay in a swarm, based on their instinct combined with following their neighbours' behaviour. This document is part of a bigger research which implements a bird-flocking algorithm with cars. For bird-flocking, the speed and heading of neighbours need to be known. Detection of neighbours with robots is technically challenging. We have researched a way to detect neighbours based on a hardware filter based on RSSI, in combination with a software filter.