Dexter industries (who previously brought us solar-powered Mindstorms) has created the NXTBee, which uses the an Xbee radio to send data much further: 300 feet for the base $55 NXTBee, up to a mile if you opt for the $78 NXTBee-PRO. You'll probably need two of the things, though, so make sure you budget appropriately. There's definitely some lag evident in the video of a long-range RC car below, but we're not sure if that's the wireless or the machine itself.
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