diff --git a/@agent/agent.m b/@agent/agent.m
index 895f1eb..eeedb78 100644
--- a/@agent/agent.m
+++ b/@agent/agent.m
@@ -7,9 +7,6 @@ classdef agent
         sensorModel;
         sensingLength = 0.05; % length parameter used by sensing function
 
-        % Guidance
-        guidanceModel;
-
         % State
         lastPos = NaN(1, 3); % position from previous timestep
         pos = NaN(1, 3); % current position
diff --git a/@agent/initialize.m b/@agent/initialize.m
index 2c40e0b..4577a99 100644
--- a/@agent/initialize.m
+++ b/@agent/initialize.m
@@ -22,7 +22,6 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
     obj.tilt = tilt;
     obj.collisionGeometry = collisionGeometry;
     obj.sensorModel = sensorModel;
-    obj.guidanceModel = @gradientAscent;
     obj.label = label;
     obj.debug = debug;
     obj.plotCommsGeometry = plotCommsGeometry;
diff --git a/gradientAscent.m b/gradientAscent.m
deleted file mode 100644
index 2862c10..0000000
--- a/gradientAscent.m
+++ /dev/null
@@ -1,26 +0,0 @@
-function nextPos = gradientAscent(sensedValues, sensedPositions, pos, rate)
-    arguments (Input)
-        sensedValues (:, 1) double;
-        sensedPositions (:, 3) double;
-        pos (1, 3) double;
-        rate (1, 1) double = 0.1;
-    end
-    arguments (Output)
-        nextPos(1, 3) double;
-    end
-
-    % As a default, maintain current position
-    if size(sensedValues, 1) == 0 && size(sensedPositions, 1) == 0
-        nextPos = pos;
-        return;
-    end
-    
-    % Select next position by maximum sensed value
-    nextPos = sensedPositions(sensedValues == max(sensedValues), :);
-    nextPos = [nextPos(1, 1:2), pos(3)]; % just in case two get selected, simply pick one
-
-    % rate-limit motion
-    v = nextPos - pos;
-    nextPos = pos + (v / norm(v, 2)) * rate;
-
-end
\ No newline at end of file
diff --git a/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/SX_DXs25E0YtpgKdH4lq3y9N0csd.xml b/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/SX_DXs25E0YtpgKdH4lq3y9N0csd.xml
deleted file mode 100644
index 99772b4..0000000
--- a/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/SX_DXs25E0YtpgKdH4lq3y9N0csd.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info>
-    <Category UUID="FileClassCategory">
-        <Label UUID="design"/>
-    </Category>
-</Info>
\ No newline at end of file
diff --git a/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/SX_DXs25E0YtpgKdH4lq3y9N0csp.xml b/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/SX_DXs25E0YtpgKdH4lq3y9N0csp.xml
deleted file mode 100644
index a34fa7a..0000000
--- a/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/SX_DXs25E0YtpgKdH4lq3y9N0csp.xml
+++ /dev/null
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="gradientAscent.m" type="File"/>
\ No newline at end of file