What will the range of the IR beacons be? Will robots be able to detect each other when they are the maximum possible distance apart (and within line of sight)?
Standard IR emitters and detectors do not have the required range for the size of the arena, and it’s important that robots be able to detect each other at any range (when in line of sight). The parts that will be specified for the emitter and detector will be rather specialized, and will work throughout the entire maze. This is detailed here.