{
  "schema": 1,
  "description": "Paired controller comparison in the browser model. The reactive variant is an ablation inspired by the historical front-distance rule, not original ROS execution.",
  "conditions": "7 starting phases × 3 obstacle-speed multipliers; six ordered goals, 600 s timeout; 20 Hz simulation, 10 Hz control, 100 Hz contact substeps; ideal pose and observable tracked velocities.",
  "aggregate": {
    "predictive": {
      "runs": 21,
      "completed": 21,
      "contactFree": 21,
      "contacts": 0,
      "meanTime": 250.44523809526086,
      "maxGoalError": 0.12996330441281173,
      "minimumClearance": 0.28295916536136345
    },
    "reactive": {
      "runs": 21,
      "completed": 21,
      "contactFree": 12,
      "contacts": 11,
      "meanTime": 175.73333333333898,
      "maxGoalError": 0.12958388453087785,
      "minimumClearance": -0.7228964202952265
    }
  },
  "sourceHashes": {
    "world.mjs": "69238adf6538e6c66f8e4de017a9dbdd7deb4d9554f7e77a47a5bbb05cf63a9d",
    "planner.mjs": "e8eda1390f2b27bbc00a663dd1d5b90d602d5d0388e6fcddd3c37ef014067e7c",
    "mapping.mjs": "9d0b7ca804f8e78436a062eb35c68b4cb574a204b140072c5ad169d90b728e5a",
    "controller.mjs": "f215a0764ef726973a2734f37b98f35dea44c9acda803778e62a689ec983bc0e",
    "simulation.mjs": "a6620e38429c698a47e538352412216ff360fb5a351ba667061174bc341ae73f"
  },
  "runs": [
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "time": 250.25000000002265,
      "distance": 134.6660698193394,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.28653648697117085,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 57.19999999999889,
          "error": 0.1251638882340567,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 57.19999999999889,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 88.49999999999712,
          "error": 0.12966794528817868,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 88.49999999999712,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 115.0999999999956,
          "error": 0.1293025950596617,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 115.0999999999956,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 138.04999999999714,
          "error": 0.12877382393217118,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 138.04999999999714,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 177.60000000000613,
          "error": 0.12834290219219277,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 177.60000000000613,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 250.20000000002264,
          "error": 0.12925312162788327,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "time": 173.0000000000051,
      "distance": 129.3685764693923,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.16130787394888302,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 56.49999999999893,
          "error": 0.12584644201879275,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 56.49999999999893,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 75.19999999999787,
          "error": 0.12359186207202462,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 75.19999999999787,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 90.04999999999703,
          "error": 0.12288710368631918,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 90.04999999999703,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 121.89999999999522,
          "error": 0.12215706269495379,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 121.89999999999522,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 172.95000000000508,
          "error": 0.12793566371009943,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "time": 257.35000000002424,
      "distance": 138.554374413997,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2862542746056904,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 59.44999999999876,
          "error": 0.12969988196267226,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 59.44999999999876,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 95.19999999999673,
          "error": 0.12832422944762317,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 95.19999999999673,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 122.1499999999952,
          "error": 0.12836042999265973,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 122.1499999999952,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 144.29999999999856,
          "error": 0.1291314437268418,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 144.29999999999856,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 184.15000000000762,
          "error": 0.12982911575177278,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 184.15000000000762,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 257.3000000000242,
          "error": 0.12959988535859499,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "time": 176.6000000000059,
      "distance": 130.0744885398556,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.24268700106789443,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 38.69999999999994,
          "error": 0.12530441366127318,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 38.69999999999994,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 58.099999999998836,
          "error": 0.1264428859816164,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 58.099999999998836,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 76.79999999999778,
          "error": 0.12356672159990563,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 76.79999999999778,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 92.44999999999689,
          "error": 0.1278518851586396,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 92.44999999999689,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 125.44999999999501,
          "error": 0.12452761741072327,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 125.44999999999501,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 176.5500000000059,
          "error": 0.12792866218284366,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "time": 248.95000000002236,
      "distance": 135.53593729314665,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.29202973549428246,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 57.69999999999886,
          "error": 0.12216248720304233,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 57.69999999999886,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 84.64999999999733,
          "error": 0.1284674126357044,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 84.64999999999733,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 111.49999999999581,
          "error": 0.12887802014630884,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 111.49999999999581,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 136.1499999999967,
          "error": 0.12862832743712765,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 136.1499999999967,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 176.1500000000058,
          "error": 0.12942674790506387,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 176.1500000000058,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 248.90000000002235,
          "error": 0.12929911447401493,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 0
      },
      "time": 176.50000000000588,
      "distance": 130.00487217427113,
      "contacts": 2,
      "contactTime": 1.7000000000000008,
      "minimumClearance": -0.6215235232445304,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "contact",
          "time": 53.94999999999907
        },
        {
          "type": "goal",
          "time": 58.7499999999988,
          "error": 0.12565154257177638,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 58.7499999999988,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 77.49999999999774,
          "error": 0.12360130826014117,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 77.49999999999774,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 92.3499999999969,
          "error": 0.12288774304424546,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 92.3499999999969,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "contact",
          "time": 95.8499999999967
        },
        {
          "type": "goal",
          "time": 125.34999999999502,
          "error": 0.1287089127627671,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 125.34999999999502,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 176.45000000000587,
          "error": 0.12791625965917525,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "time": 260.00000000002484,
      "distance": 136.33771448369515,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.28295916536136345,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 64.1999999999985,
          "error": 0.1295195260110387,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 64.1999999999985,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 92.64999999999688,
          "error": 0.12885519939971185,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 92.64999999999688,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 119.04999999999538,
          "error": 0.12990875788232342,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 119.04999999999538,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 141.4499999999979,
          "error": 0.12912779421882342,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 141.4499999999979,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 187.50000000000838,
          "error": 0.12918807824599363,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 187.50000000000838,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 259.95000000002483,
          "error": 0.12914974984298416,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "time": 175.50000000000566,
      "distance": 129.95486662220318,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.14535311609437696,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 56.49999999999893,
          "error": 0.12584644201879275,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 56.49999999999893,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 75.19999999999787,
          "error": 0.12359186207202462,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 75.19999999999787,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 92.59999999999688,
          "error": 0.12734613325136027,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 92.59999999999688,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 124.34999999999508,
          "error": 0.12958388453087785,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 124.34999999999508,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 175.45000000000564,
          "error": 0.12791368919929555,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "time": 249.90000000002257,
      "distance": 135.05566076962802,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2930780081406277,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 59.199999999998774,
          "error": 0.12867938190805675,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 59.199999999998774,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 86.64999999999722,
          "error": 0.12918909963892264,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 86.64999999999722,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 113.4999999999957,
          "error": 0.12893653388131632,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 113.4999999999957,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 135.99999999999667,
          "error": 0.12919519464447937,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 135.99999999999667,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 177.15000000000603,
          "error": 0.12915313162672354,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 177.15000000000603,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 249.85000000002256,
          "error": 0.1294005888439992,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "time": 175.40000000000563,
      "distance": 129.36474168864223,
      "contacts": 1,
      "contactTime": 2.4499999999999993,
      "minimumClearance": -0.5924181046574286,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "contact",
          "time": 53.64999999999909
        },
        {
          "type": "goal",
          "time": 58.89999999999879,
          "error": 0.1292043929929435,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 58.89999999999879,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 77.59999999999773,
          "error": 0.12344422233305553,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 77.59999999999773,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 92.44999999999689,
          "error": 0.12287582511831789,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 92.44999999999689,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 124.29999999999508,
          "error": 0.1221603703019033,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 124.29999999999508,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 175.35000000000562,
          "error": 0.12793565358400819,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "time": 253.75000000002345,
      "distance": 138.4083035868317,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2915723314337437,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 56.14999999999895,
          "error": 0.12355301856634014,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 56.14999999999895,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 82.39999999999746,
          "error": 0.12904046352764925,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 82.39999999999746,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 109.19999999999594,
          "error": 0.12883810285092395,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 109.19999999999594,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 136.0999999999967,
          "error": 0.12898204371875097,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 136.0999999999967,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 180.80000000000686,
          "error": 0.12880069948732037,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 180.80000000000686,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 253.70000000002344,
          "error": 0.128733644940212,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 3
      },
      "time": 176.00000000000577,
      "distance": 130.11032640965655,
      "contacts": 1,
      "contactTime": 1.2000000000000004,
      "minimumClearance": -0.7228964202952265,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 58.04999999999884,
          "error": 0.12869322862958466,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 58.04999999999884,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 76.79999999999778,
          "error": 0.12346671665324419,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 76.79999999999778,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "contact",
          "time": 87.34999999999718
        },
        {
          "type": "goal",
          "time": 93.04999999999686,
          "error": 0.12501808047465165,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 93.04999999999686,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 124.89999999999505,
          "error": 0.12175736242939392,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 124.89999999999505,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 175.95000000000576,
          "error": 0.1279368572772068,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "time": 251.90000000002303,
      "distance": 135.54834035575678,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2914084371773433,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 59.349999999998765,
          "error": 0.12948539280664484,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 59.349999999998765,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 86.8999999999972,
          "error": 0.1283312401646606,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 86.8999999999972,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 113.3499999999957,
          "error": 0.12872442212071086,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 113.3499999999957,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 135.54999999999657,
          "error": 0.12930290107755255,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 135.54999999999657,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 178.3000000000063,
          "error": 0.12839268992103944,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 178.3000000000063,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 251.85000000002302,
          "error": 0.1294518995800115,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "time": 173.0000000000051,
      "distance": 129.3685764693923,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.047666998753213674,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 56.49999999999893,
          "error": 0.12584644201879275,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 56.49999999999893,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 75.19999999999787,
          "error": 0.12359186207202462,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 75.19999999999787,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 90.04999999999703,
          "error": 0.12288710368631918,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 90.04999999999703,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 121.89999999999522,
          "error": 0.12215706269495379,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 121.89999999999522,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 172.95000000000508,
          "error": 0.12793566371009943,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "time": 249.65000000002252,
      "distance": 135.02937245317392,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.28806199994279846,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 59.24999999999877,
          "error": 0.1289707868549594,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 59.24999999999877,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 88.94999999999709,
          "error": 0.12996048962609183,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 88.94999999999709,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 115.1999999999956,
          "error": 0.12881317035527157,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 115.1999999999956,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 137.29999999999697,
          "error": 0.12895458720338207,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 137.29999999999697,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 177.15000000000603,
          "error": 0.12830972680581876,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 177.15000000000603,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 249.6000000000225,
          "error": 0.12910511914735434,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "time": 173.9000000000053,
      "distance": 129.4256330313447,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.06414602294061977,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 57.34999999999888,
          "error": 0.12374939764721588,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 57.34999999999888,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 76.09999999999782,
          "error": 0.12368477726110201,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 76.09999999999782,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 90.94999999999698,
          "error": 0.12289412544863755,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 90.94999999999698,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 122.79999999999517,
          "error": 0.12215499548588205,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 122.79999999999517,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 173.85000000000528,
          "error": 0.12793566997833125,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "time": 246.20000000002173,
      "distance": 134.72668111887256,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2849196381275767,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 56.14999999999895,
          "error": 0.1295810735388777,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 56.14999999999895,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 83.14999999999742,
          "error": 0.12846182814438148,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 83.14999999999742,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 109.24999999999594,
          "error": 0.12955663911096058,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 109.24999999999594,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 133.34999999999607,
          "error": 0.12912762050244117,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 133.34999999999607,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 173.40000000000518,
          "error": 0.1285563793985677,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 173.40000000000518,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 246.15000000002172,
          "error": 0.12958646527229625,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 6
      },
      "time": 174.60000000000545,
      "distance": 129.74321439547745,
      "contacts": 1,
      "contactTime": 1.1000000000000003,
      "minimumClearance": -0.41509868257610466,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 56.49999999999893,
          "error": 0.12584644201879275,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 56.49999999999893,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 75.19999999999787,
          "error": 0.12359186207202462,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 75.19999999999787,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "contact",
          "time": 85.1499999999973
        },
        {
          "type": "goal",
          "time": 91.69999999999693,
          "error": 0.12333574790398363,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 91.69999999999693,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 123.49999999999513,
          "error": 0.12207470592833544,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 123.49999999999513,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 174.55000000000544,
          "error": 0.12793590927678072,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "time": 248.50000000002225,
      "distance": 135.00423025404112,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.28415859846184643,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 59.29999999999877,
          "error": 0.12910894416256924,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 59.29999999999877,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 86.64999999999722,
          "error": 0.12893339376203689,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 86.64999999999722,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 113.4999999999957,
          "error": 0.12892000825139432,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 113.4999999999957,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 135.59999999999658,
          "error": 0.12885085773793076,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 135.59999999999658,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 175.80000000000572,
          "error": 0.12868748119938112,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 175.80000000000572,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 248.45000000002224,
          "error": 0.12953005951103538,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "time": 181.9000000000071,
      "distance": 130.9923067826121,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.24654582457509244,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 41.69999999999977,
          "error": 0.12845784738431898,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 41.69999999999977,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 64.0999999999985,
          "error": 0.12511042429760935,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 64.0999999999985,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 82.79999999999744,
          "error": 0.12361581068291032,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 82.79999999999744,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 98.94999999999652,
          "error": 0.1291559066175077,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 98.94999999999652,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 130.74999999999548,
          "error": 0.12922250948484107,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 130.74999999999548,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 181.8500000000071,
          "error": 0.12791476007109567,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "time": 246.9500000000219,
      "distance": 134.6412636790068,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.3064187949921935,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 58.799999999998796,
          "error": 0.12891053988224263,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 58.799999999998796,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 85.94999999999726,
          "error": 0.12941241154363065,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 85.94999999999726,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 112.44999999999575,
          "error": 0.12891789461053563,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 112.44999999999575,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 134.59999999999636,
          "error": 0.12971304629389724,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 134.59999999999636,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 174.20000000000536,
          "error": 0.12964061911296973,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 174.20000000000536,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 246.9000000000219,
          "error": 0.12928735558816273,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "time": 175.80000000000572,
      "distance": 130.09668453041985,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2292066850755774,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 58.7499999999988,
          "error": 0.12480964609132185,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 58.7499999999988,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 77.49999999999774,
          "error": 0.12363771063001022,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 77.49999999999774,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 92.3499999999969,
          "error": 0.12289057749665454,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 92.3499999999969,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 124.69999999999506,
          "error": 0.12465103505895135,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 124.69999999999506,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 175.7500000000057,
          "error": 0.12792827428639844,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "time": 249.35000000002245,
      "distance": 134.90484215066746,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2854415311643841,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 58.34999999999882,
          "error": 0.12996330441281173,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 58.34999999999882,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 87.84999999999715,
          "error": 0.12923233515386662,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 87.84999999999715,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 114.39999999999564,
          "error": 0.12932715213556314,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 114.39999999999564,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 136.9999999999969,
          "error": 0.12909106718434268,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 136.9999999999969,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 176.75000000000594,
          "error": 0.1287194200618217,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 176.75000000000594,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 249.30000000002244,
          "error": 0.1296085794253207,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 9
      },
      "time": 176.50000000000588,
      "distance": 130.5139228282736,
      "contacts": 1,
      "contactTime": 1.2000000000000004,
      "minimumClearance": -0.6364361176220659,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 39.04999999999992,
          "error": 0.12305541492616444,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 39.04999999999992,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 58.54999999999881,
          "error": 0.1272398174815873,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 58.54999999999881,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 77.29999999999775,
          "error": 0.12352681542388043,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 77.29999999999775,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 92.14999999999691,
          "error": 0.12288248694020937,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 92.14999999999691,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "contact",
          "time": 96.99999999999663
        },
        {
          "type": "goal",
          "time": 125.34999999999502,
          "error": 0.12421130576649049,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 125.34999999999502,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 176.45000000000587,
          "error": 0.12792958235281682,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "time": 253.80000000002346,
      "distance": 134.88097639870432,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2918190902173319,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 59.44999999999876,
          "error": 0.12844483445370725,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 59.44999999999876,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 86.64999999999722,
          "error": 0.129396855417196,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 86.64999999999722,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 113.3499999999957,
          "error": 0.12856637466625317,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 113.3499999999957,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 139.84999999999755,
          "error": 0.12901863945709682,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 139.84999999999755,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 181.15000000000694,
          "error": 0.129143332788531,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 181.15000000000694,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 253.75000000002345,
          "error": 0.1283581145580407,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "time": 175.90000000000575,
      "distance": 129.67636182408944,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2580467817354647,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 58.14999999999883,
          "error": 0.12379679353077558,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 58.14999999999883,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 76.89999999999777,
          "error": 0.12367439118690332,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 76.89999999999777,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 92.94999999999686,
          "error": 0.1290680504391055,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 92.94999999999686,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 124.74999999999505,
          "error": 0.12923944689906036,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 124.74999999999505,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 175.85000000000574,
          "error": 0.1279147107097086,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "time": 244.10000000002125,
      "distance": 134.4058633524709,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.3265981225064556,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 56.29999999999894,
          "error": 0.12850200149945668,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 56.29999999999894,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 82.79999999999744,
          "error": 0.12878898933305571,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 82.79999999999744,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 108.99999999999595,
          "error": 0.12906514421649765,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 108.99999999999595,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 131.19999999999558,
          "error": 0.1295389415337812,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 131.19999999999558,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 171.00000000000463,
          "error": 0.1283622900251787,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 171.00000000000463,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 244.05000000002124,
          "error": 0.12868747853773935,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "time": 173.0000000000051,
      "distance": 129.53066618734076,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.29577536361727375,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 56.44999999999893,
          "error": 0.12675496814881268,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 56.44999999999893,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 75.19999999999787,
          "error": 0.1235447394836802,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 75.19999999999787,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 90.04999999999703,
          "error": 0.12288417025236906,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 90.04999999999703,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 121.89999999999522,
          "error": 0.12215799142010661,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 121.89999999999522,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 172.95000000000508,
          "error": 0.12793566775847823,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "time": 251.05000000002283,
      "distance": 135.24662679138874,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2980465171530262,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 61.69999999999863,
          "error": 0.12848748643451538,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 61.69999999999863,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 89.24999999999707,
          "error": 0.12833949658909133,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 89.24999999999707,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 116.14999999999554,
          "error": 0.12901272570195707,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 116.14999999999554,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 138.7499999999973,
          "error": 0.12994020547224655,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 138.7499999999973,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 178.05000000000624,
          "error": 0.12908861809530253,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 178.05000000000624,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 251.00000000002282,
          "error": 0.12933253037956985,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 12
      },
      "time": 174.50000000000543,
      "distance": 129.64640726678383,
      "contacts": 1,
      "contactTime": 1.2000000000000004,
      "minimumClearance": -0.6364394516822319,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 56.549999999998924,
          "error": 0.12612729545057105,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 56.549999999998924,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 75.29999999999787,
          "error": 0.12357383452220445,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 75.29999999999787,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 90.14999999999702,
          "error": 0.1228862528276041,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 90.14999999999702,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "contact",
          "time": 94.99999999999675
        },
        {
          "type": "goal",
          "time": 123.34999999999513,
          "error": 0.1242102837638666,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 123.34999999999513,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 174.45000000000542,
          "error": 0.12792958808342525,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "time": 247.8500000000221,
      "distance": 135.22741194298922,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.37376568440527724,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 59.44999999999876,
          "error": 0.128446405841584,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 59.44999999999876,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 86.64999999999722,
          "error": 0.1287528041268936,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 86.64999999999722,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 113.3499999999957,
          "error": 0.12873037557416914,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 113.3499999999957,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 135.49999999999656,
          "error": 0.12847824977342392,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 135.49999999999656,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 175.3000000000056,
          "error": 0.12958324184567635,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 175.3000000000056,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 247.8000000000221,
          "error": 0.1287765791224584,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "time": 180.30000000000675,
      "distance": 130.8094869998226,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.20820353982313933,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 60.84999999999868,
          "error": 0.12498117403485627,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 60.84999999999868,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 79.59999999999762,
          "error": 0.12362998495967976,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 79.59999999999762,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 94.44999999999678,
          "error": 0.12289000501144114,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 94.44999999999678,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 129.14999999999512,
          "error": 0.12404627556359958,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 129.14999999999512,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 180.25000000000674,
          "error": 0.12793006443632313,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "time": 246.70000000002184,
      "distance": 135.28869021622808,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2895494776580385,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 57.79999999999885,
          "error": 0.1287663455674867,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 57.79999999999885,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 85.2999999999973,
          "error": 0.1296217564137451,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 85.2999999999973,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 112.04999999999578,
          "error": 0.12960878630185838,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 112.04999999999578,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 134.24999999999628,
          "error": 0.12947108327543078,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 134.24999999999628,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 174.10000000000534,
          "error": 0.12870461563439187,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 174.10000000000534,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 246.65000000002183,
          "error": 0.1291681806877844,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "time": 173.0000000000051,
      "distance": 129.3685764693923,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.3826584969195985,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 56.49999999999893,
          "error": 0.12584644201879275,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 56.49999999999893,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 75.19999999999787,
          "error": 0.12359186207202462,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 75.19999999999787,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 90.04999999999703,
          "error": 0.12288710368631918,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 90.04999999999703,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 121.89999999999522,
          "error": 0.12215706269495379,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 121.89999999999522,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 172.95000000000508,
          "error": 0.12793566371009943,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "time": 254.60000000002364,
      "distance": 135.7291000915199,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.28720707685969726,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 59.49999999999876,
          "error": 0.12939655284433677,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 59.49999999999876,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 88.89999999999709,
          "error": 0.12905028679465588,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 88.89999999999709,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 115.39999999999559,
          "error": 0.12875457332863918,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 115.39999999999559,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 140.59999999999772,
          "error": 0.1285378604374389,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 140.59999999999772,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 181.9000000000071,
          "error": 0.12901565959006583,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 181.9000000000071,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 254.55000000002363,
          "error": 0.1287938168121939,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 15
      },
      "time": 174.50000000000543,
      "distance": 129.4118382451458,
      "contacts": 1,
      "contactTime": 1.1500000000000004,
      "minimumClearance": -0.5996018172547676,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 56.49999999999893,
          "error": 0.12584644201879275,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 56.49999999999893,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 75.19999999999787,
          "error": 0.12359186207202462,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 75.19999999999787,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "contact",
          "time": 85.99999999999726
        },
        {
          "type": "goal",
          "time": 91.14999999999696,
          "error": 0.1293744753117126,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 91.14999999999696,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 123.39999999999513,
          "error": 0.12722666565618693,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 123.39999999999513,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 174.45000000000542,
          "error": 0.12792066931526636,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "time": 247.30000000002198,
      "distance": 134.99455300397372,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.3554875814863847,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 58.999999999998785,
          "error": 0.1293238422354818,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 58.999999999998785,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 86.04999999999725,
          "error": 0.12966855891509008,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 86.04999999999725,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 112.29999999999576,
          "error": 0.12837372032027805,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 112.29999999999576,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 134.64999999999637,
          "error": 0.12903394019173653,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 134.64999999999637,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 174.50000000000543,
          "error": 0.12865079120191153,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 174.50000000000543,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 247.25000000002197,
          "error": 0.12973279459139764,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 0.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "time": 174.20000000000536,
      "distance": 129.4086482596306,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.3894361134558739,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 56.49999999999893,
          "error": 0.12584644201879275,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 56.49999999999893,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 75.19999999999787,
          "error": 0.12359186207202462,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 75.19999999999787,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 90.04999999999703,
          "error": 0.12288710368631918,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 90.04999999999703,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 123.09999999999515,
          "error": 0.1267729983348294,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 123.09999999999515,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 174.15000000000535,
          "error": 0.12792199280465033,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "time": 248.50000000002225,
      "distance": 135.39460918107585,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.28718578523533767,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 58.34999999999882,
          "error": 0.12836342752203952,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 58.34999999999882,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 85.99999999999726,
          "error": 0.12990452234869457,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 85.99999999999726,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 112.64999999999574,
          "error": 0.12906670461178993,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 112.64999999999574,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 134.7499999999964,
          "error": 0.12976600703675803,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 134.7499999999964,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 175.6500000000057,
          "error": 0.12985838525134125,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 175.6500000000057,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 248.45000000002224,
          "error": 0.12914834877573775,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "time": 178.50000000000634,
      "distance": 130.37013135172984,
      "contacts": 1,
      "contactTime": 2.499999999999999,
      "minimumClearance": -0.6139651995841826,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "contact",
          "time": 20.75000000000016
        },
        {
          "type": "goal",
          "time": 39.59999999999989,
          "error": 0.12844886664953883,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 39.59999999999989,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 58.999999999998785,
          "error": 0.12584644084636612,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 58.999999999998785,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 77.69999999999773,
          "error": 0.12359186347571174,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 77.69999999999773,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 94.34999999999678,
          "error": 0.12343077577863497,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 94.34999999999678,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 127.3999999999949,
          "error": 0.12631573047981517,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 127.3999999999949,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 178.45000000000633,
          "error": 0.1279233490017516,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "config": {
        "mode": "dynamic",
        "controller": "predictive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "time": 252.7000000000232,
      "distance": 137.7184316404154,
      "contacts": 0,
      "contactTime": 0,
      "minimumClearance": 0.2894622710888106,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 58.649999999998805,
          "error": 0.12716649829079724,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 58.649999999998805,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal",
          "time": 85.89999999999726,
          "error": 0.1287356234084553,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 85.89999999999726,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 112.74999999999574,
          "error": 0.12886130744424024,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 112.74999999999574,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 139.6499999999975,
          "error": 0.129762427210982,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 139.6499999999975,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal",
          "time": 179.95000000000667,
          "error": 0.12832603175357812,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 179.95000000000667,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 252.6500000000232,
          "error": 0.12988241736684142,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    },
    {
      "initialConfig": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "config": {
        "mode": "dynamic",
        "controller": "reactive",
        "planner": "astar",
        "speed": 0.8,
        "obstacleSpeed": 1.5,
        "margin": 0.28,
        "horizon": 2.4,
        "lidarRange": 12,
        "phase": 18
      },
      "time": 177.80000000000618,
      "distance": 130.99889555156938,
      "contacts": 2,
      "contactTime": 1.7500000000000009,
      "minimumClearance": -0.6335092427578196,
      "reached": 6,
      "coverage": 15.329436769394261,
      "events": [
        {
          "type": "goal_set",
          "time": 0,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal",
          "time": 37.10000000000003,
          "error": 0.12844887332095625,
          "goal": {
            "x": 12,
            "y": -1
          }
        },
        {
          "type": "goal_set",
          "time": 37.10000000000003,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "contact",
          "time": 55.249999999999
        },
        {
          "type": "goal",
          "time": 60.049999999998725,
          "error": 0.12806235709331878,
          "goal": {
            "x": -2,
            "y": -3
          }
        },
        {
          "type": "goal_set",
          "time": 60.049999999998725,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 78.79999999999767,
          "error": 0.12349466548302572,
          "goal": {
            "x": -1,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 78.79999999999767,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal",
          "time": 93.64999999999682,
          "error": 0.12287965888062115,
          "goal": {
            "x": -12,
            "y": 11
          }
        },
        {
          "type": "goal_set",
          "time": 93.64999999999682,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "contact",
          "time": 97.14999999999662
        },
        {
          "type": "goal",
          "time": 126.69999999999494,
          "error": 0.12211745043119027,
          "goal": {
            "x": 12,
            "y": 12
          }
        },
        {
          "type": "goal_set",
          "time": 126.69999999999494,
          "goal": {
            "x": -13,
            "y": -12
          }
        },
        {
          "type": "goal",
          "time": 177.75000000000617,
          "error": 0.12793578276512263,
          "goal": {
            "x": -13,
            "y": -12
          }
        }
      ],
      "state": "Tour complete"
    }
  ]
}
