diff --git a/README.md b/README.md
index 9ffb3d8e..4b4d6930 100644
--- a/README.md
+++ b/README.md
@@ -35,6 +35,9 @@ The simulation is based on the open source robot simulator *Webots*. The applica
 
 * Website: https://cyberbotics.com/#cyberbotics
 * Github: https://github.com/cyberbotics/webots
+* Compatible webots versions:
+  * v2023a
+  * v2023b
 
 ## Intallation
 
@@ -76,6 +79,7 @@ Platformio project tasks --> WebotsSim --> Build
 | Library | Description | License |
 | - | - | - |
 | [Zumo32U4 library](https://github.com/pololu/zumo-32u4-arduino-library) | Provides access to the Zumo32U4 hardware. | MIT |
+| [SerialMuxProt](https://github.com/gabryelreyes/SerialMuxProt) | Multiplexing Communication Protocol | MIT |
 
 # Issues, Ideas And Bugs
 If you have further ideas or you found some bugs, great! Create a [issue](https://github.com/BlueAndi/RadonUlzer/issues) or if you are able and willing to fix it by yourself, clone the repository and create a pull request.
diff --git a/lib/HALSim/Keyboard.h b/lib/HALSim/Keyboard.h
index 1f7af3c8..77dbb5ac 100644
--- a/lib/HALSim/Keyboard.h
+++ b/lib/HALSim/Keyboard.h
@@ -43,6 +43,7 @@
 /******************************************************************************
  * Includes
  *****************************************************************************/
+#include <stdint.h>
 #include <webots/Keyboard.hpp>
 #include <webots/Robot.hpp>
 
diff --git a/lib/Service/RelativeEncoders.h b/lib/Service/RelativeEncoders.h
index c00414ee..591d583a 100644
--- a/lib/Service/RelativeEncoders.h
+++ b/lib/Service/RelativeEncoders.h
@@ -71,8 +71,8 @@ class RelativeEncoders
      */
     RelativeEncoders(IEncoders& absEncoders) :
         m_absEncoders(absEncoders),
-        m_referencePointLeft(m_absEncoders.getCountsLeft()),
-        m_referencePointRight(m_absEncoders.getCountsRight()),
+        m_referencePointLeft(0),
+        m_referencePointRight(0),
         m_lastRelEncoderStepsLeft(0),
         m_lastRelEncoderStepsRight(0)
     {
diff --git a/platformio.ini b/platformio.ini
index 2516c599..711da412 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -107,7 +107,6 @@ extra_scripts =
     pre:./scripts/add_os_specific_build_flags.py
     pre:./scripts/create_webots_library.py
     post:./scripts/copy_webots_shared_libs.py
-    post:./scripts/copy_track_file.py
 
 ; *****************************************************************************
 ; PC target environment for tests
diff --git a/scripts/copy_track_file.py b/scripts/copy_track_file.py
deleted file mode 100644
index a710d940..00000000
--- a/scripts/copy_track_file.py
+++ /dev/null
@@ -1,50 +0,0 @@
-"""Provide track image to Webots."""
-
-# MIT License
-#
-# Copyright (c) 2022 - 2023 Andreas Merkle (web@blue-andi.de)
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
-
-################################################################################
-# Imports
-################################################################################
-import os
-import shutil
-
-################################################################################
-# Variables
-################################################################################
-dst_path_folder = os.getenv('WEBOTS_HOME') + '/projects/default/worlds/protos/'
-SRC_PATH_FILE   = './webots/track.png'
-
-################################################################################
-# Classes
-################################################################################
-
-################################################################################
-# Functions
-################################################################################
-
-################################################################################
-# Main
-################################################################################
-if not os.path.isdir(dst_path_folder):
-    os.makedirs(os.path.dirname(dst_path_folder), exist_ok=True)
-    shutil.copy(SRC_PATH_FILE, dst_path_folder)
diff --git a/webots/protos/Zumo32U4.proto b/webots/protos/Zumo32U4.proto
index 9da32d8d..966a3dad 100644
--- a/webots/protos/Zumo32U4.proto
+++ b/webots/protos/Zumo32U4.proto
@@ -168,6 +168,9 @@ PROTO Zumo32U4 [
             appearance DEF BODY_COLOR PBRAppearance {
               emissiveColor 0.2 0.2 0.2
             }
+            geometry DEF BODY_GEOMETRY Box {
+              size 0.06 0.065 0.02
+            }
           }
           Transform {
             translation 0.0325 0 0.0025
@@ -185,9 +188,7 @@ PROTO Zumo32U4 [
             children [
               Shape {
                 appearance USE BODY_COLOR
-                geometry Box {
-                  size 0.06 0.065 0.02
-                }
+                geometry USE BODY_GEOMETRY
               }
             ]
           }