diff --git a/index.js b/index.js
index 4215f6e..0121acd 100644
--- a/index.js
+++ b/index.js
@@ -1,6 +1,12 @@
 'use strict';
 var Itach;
 var net = require('net');
+var dgram = require('dgram');
+
+//used to listen to beacon datagrams
+var PORT = 9131;
+var ITACHBEACONADDRESS = '239.255.250.250';
+var BEACONTIMEOUTMILLIS = 60000;
 
 var next = function (cmd, cb) {
   cmd.shift();
@@ -10,8 +16,71 @@ var next = function (cmd, cb) {
   return cb(cmd);
 };
 
+var Endpoint = function(beaconXML) {
+	var MODEL = /.*<-Model=(.*)><-R/;
+	var CONFIGURL = /.*<-Config-URL=(.*)><-P/;
+	var pingTime;
+	
+	this.modelNumber = MODEL.exec(beaconXML)[1];
+	this.configURL = CONFIGURL.exec(beaconXML)[1];
+	this.ip = this.configURL.substr(this.configURL.indexOf('://') + 3);
+	//console.log("creating an endpoint for: " + this.modelNumber + "@" + this.ip);
+	
+};
+Endpoint.prototype.getIp = function() {return this.ip;};
+Endpoint.prototype.getConfigUrl = function() {return this.configURL;};
+Endpoint.prototype.setPingTime = function(timeInMillis) {this.pingTime = timeInMillis;};
+Endpoint.prototype.getPingTime = function() {return this.pingTime;};
+
 module.exports = Itach = function (host) {
   this.host = host;
+  this.endpoints = {};
+  this.server;
+  this.interval;
+};
+Itach.prototype.getEndpoints = function() {return this.endpoints;};
+
+Itach.prototype.locate = function() {
+	this.server = dgram.createSocket('udp4');
+	var _self = this;
+
+	function checkTimeouts() {
+		var currentTimeMillis = new Date().getTime();
+		for (var ip in _self.endpoints) {
+			var ep = _self.endpoints[ip];
+			if (currentTimeMillis - ep.getPingTime() > BEACONTIMEOUTMILLIS) {
+				//console.log(ep.getIp() + " flagged for removal");
+				delete _self.endpoints[ip];
+			}
+		}
+		console.log(_self.endpoints);
+	}
+
+	this.server.on('message', function(message) {
+		var ep = new Endpoint(message);
+		var currentTimeMillis = new Date().getTime();
+		if ('' + ep.getIp() in _self.endpoints) {
+			var toUpdate = _self.endpoints['' + ep.getIp()];
+			toUpdate.setPingTime(currentTimeMillis);
+		} else {
+			ep.setPingTime(currentTimeMillis);
+			_self.endpoints['' + ep.getIp()] = ep;
+		}
+	});
+
+	this.server.on('listening', function() {
+		this.setBroadcast(true);
+		this.addMembership(ITACHBEACONADDRESS);
+	});
+	
+	this.server.bind(PORT);
+	this.interval = setInterval(function(){checkTimeouts()}, 10000);
+};
+
+Itach.prototype.stopLocation = function() {
+	this.endpoints = {};
+	this.server.close();
+	clearInterval(this.interval);
 };
 
 Itach.prototype.send = function (command, callback) {