I have not bid on any properties on the courthouse steps, but I have auctioned several for my bank clients.
For bid amounts, Jon is correct -- the bank will usually be the first to bid and their price is either the amount owed on the loan or some sort of determination of market value. My clients would get a realtor to tell them what the house would realistically sell for and the bank would decide the ability to get re-paid for any difference and then come up with their highest number. Usually they will just bid that number and not join in any bidding war (most never got another bid anyway). There are probably exceptions, but that was my experience.
As far as getting ahead of teh competition, I'm not sure you can. All the info out there is available to everyone. In my area there is a company that collects all foreclosure filings and sells the list - you can get the list and then research the properties (doubt you can inspect them though). All filings have to be posted 21 days before the auction, so you'll have sufficient time - but many of the posted auctions do not happen. I would say about 75% of my postings did not go to auction for one reason or another (though most went to another auction later).
In my personal experience, the bank purchased every property except 2. One was a convienience store that was purchased by an owner-operator and the other was a house that was bought it for $1 more than the bank's bid.