Problem solved for me at least:
I changed the content of /lib/udev/rules.d/97-bluetooth.rules
from
ACTION=="add", SUBSYSTEM=="bluetooth", RUN+="/usr/sbin/bluetoothd --udev"
to
ACTION=="add", SUBSYSTEM=="bluetooth", KERNELS=="hci0", 
RUN+="/usr/sbin/bluetoothd --udev"
(change hci0 corresponding to your device name)

This fix needs some testing. If it solve your problem - OK. Otherwise I
have to open a new bugreport.

-- 
[lucid] bluetooth not working
https://bugs.launchpad.net/bugs/552579
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