In the process of debugging the simulation I worked out how the drones where exploiting the simulation to go through walls as observed in my previous log update. Turned out there was a bug in the code that handled the subsumption logic where the avoid logic was not overriding the other behaviors. I've fixed this bug and will submit the fix to git shortly. However, the result of this is that the previous data is rendered inadmissible. I will thus need to run the experiment again to get a baseline measurement for the system. This data will reported tonight, early tommorow as I find time to run the additional simulations.