diff --git a/aerpaw/config/client3.yaml b/aerpaw/config/client3.yaml
deleted file mode 100644
index 8b66a50..0000000
--- a/aerpaw/config/client3.yaml
+++ /dev/null
@@ -1,38 +0,0 @@
-# AERPAW UAV (Client) Configuration
-
-# Unique 0-indexed UAV identifier (each UAV must have a distinct value)
-uav_id: 2
-
-# TDM (Time-Division Multiplexing) radio settings
-# All UAVs share a common frequency; each transmits only during its time slot.
-# Slot assignment uses wall-clock modular arithmetic (GPS/NTP synced).
-tdm:
-  slot_duration: 0.5      # seconds per slot
-  guard_interval: 0.05    # seconds of silence at slot boundaries
-
-# ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
-origin:
-  lat: 35.72595214250436
-  lon: -78.69917609299937
-  alt: 0.0  # Alt=0 means ENU z directly becomes target altitude above home
-# Environment-specific settings
-environments:
-  local:
-    # MAVLink connection for SITL simulation (UDP)
-    mavlink:
-      ip: "127.0.0.1"
-      port: 14550
-    # Controller server address
-    controller:
-      ip: "127.0.0.1"
-      port: 5000
-
-  testbed:
-    # AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP)
-    mavlink:
-      ip: "192.168.32.26"
-      port: 14550
-    # Controller runs on host machine (192.168.109.1 from E-VM perspective)
-    controller:
-      ip: "192.168.109.1"
-      port: 5000
\ No newline at end of file
diff --git a/aerpaw/config/scenario.csv b/aerpaw/config/scenario.csv
index 77b0df8..763c048 100644
--- a/aerpaw/config/scenario.csv
+++ b/aerpaw/config/scenario.csv
@@ -1,2 +1,2 @@
 timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
-5, 100, 30.0, 0.1, 2.0, 3.0, 100, 3, "6.0, 6.0, 6.0", "20.0, 20.0, 20.0", "80.0, 80.0, 80.0", "0.25, 0.25, 0.25", "5.0, 5.0, 5.0", "0.1, 0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0, 27.5, 5.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0"
\ No newline at end of file
+5, 100, 30.0, 0.1, 2.0, 2.0, 100, 3, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0"
\ No newline at end of file
diff --git a/aerpaw/config/scenario_2uavs.csv b/aerpaw/config/scenario_2uavs.csv
deleted file mode 100644
index a2a5400..0000000
--- a/aerpaw/config/scenario_2uavs.csv
+++ /dev/null
@@ -1,2 +0,0 @@
-timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
-5, 100, 30.0, 0.1, 2.0, 3.0, 100, 3, "6.0, 6.0", "20.0, 20.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0"
\ No newline at end of file
diff --git a/aerpaw/controller.coderprj b/aerpaw/controller.coderprj
index 6e4b8e3..7729654 100644
--- a/aerpaw/controller.coderprj
+++ b/aerpaw/controller.coderprj
@@ -1099,7 +1099,7 @@
                 </Artifacts>
                 <BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
                 <Success>true</Success>
-                <Timestamp>2026-03-11T12:22:00</Timestamp>
+                <Timestamp>2026-03-11T17:11:03</Timestamp>
               </MainBuildResult>
             </coderapp.internal.mlc.mfz.MatlabCoderProjectState>
           </MF0>
diff --git a/aerpaw/results/resultsAnalysis.m b/aerpaw/results/resultsAnalysis.m
index 791ba4c..8bc961f 100644
--- a/aerpaw/results/resultsAnalysis.m
+++ b/aerpaw/results/resultsAnalysis.m
@@ -1,5 +1,5 @@
 %% Plot AERPAW logs (trajectory, radio)
-resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "three_around_wall_2uavs"); % Define path to results copied from AERPAW platform
+resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "two_around_wall"); % Define path to results copied from AERPAW platform
 
 % Plot GPS logged data and scenario information (domain, objective, obstacles)
 seaToGroundLevel = 110; % measured approximately from USGS national map viewer
diff --git a/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/YoWkWDdbwwiRDjC6Inll7Thh1K8d.xml b/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/YoWkWDdbwwiRDjC6Inll7Thh1K8d.xml
new file mode 100644
index 0000000..929f308
--- /dev/null
+++ b/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/YoWkWDdbwwiRDjC6Inll7Thh1K8d.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info Ref="aerpaw/scripts" Type="Relative"/>
\ No newline at end of file
diff --git a/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/YoWkWDdbwwiRDjC6Inll7Thh1K8p.xml b/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/YoWkWDdbwwiRDjC6Inll7Thh1K8p.xml
new file mode 100644
index 0000000..f786f69
--- /dev/null
+++ b/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/YoWkWDdbwwiRDjC6Inll7Thh1K8p.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="6402cbb5-c767-4c8b-bd7c-b2d7cf1055fc" type="Reference"/>
\ No newline at end of file
diff --git a/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hUjTM8Yelb7ggxXFg7nBPm4NKQod.xml b/resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/p7b0T5lVDU-D8JiROZNSX56qOhcd.xml
similarity index 100%
rename from resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hUjTM8Yelb7ggxXFg7nBPm4NKQod.xml
rename to resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/p7b0T5lVDU-D8JiROZNSX56qOhcd.xml
diff --git a/resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/p7b0T5lVDU-D8JiROZNSX56qOhcp.xml b/resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/p7b0T5lVDU-D8JiROZNSX56qOhcp.xml
new file mode 100644
index 0000000..a997750
--- /dev/null
+++ b/resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/p7b0T5lVDU-D8JiROZNSX56qOhcp.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="scripts" type="File"/>
\ No newline at end of file
diff --git a/resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/s1FGL5Sd2djlHMPxH7Uz8GEn55cd.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/7zvVfoOGOecwrnesPxOvEZRcJNYd.xml
similarity index 100%
rename from resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/s1FGL5Sd2djlHMPxH7Uz8GEn55cd.xml
rename to resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/7zvVfoOGOecwrnesPxOvEZRcJNYd.xml
diff --git a/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/7zvVfoOGOecwrnesPxOvEZRcJNYp.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/7zvVfoOGOecwrnesPxOvEZRcJNYp.xml
new file mode 100644
index 0000000..d8056fe
--- /dev/null
+++ b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/7zvVfoOGOecwrnesPxOvEZRcJNYp.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startexperiment_controller.sh" type="File"/>
\ No newline at end of file
diff --git a/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hUjTM8Yelb7ggxXFg7nBPm4NKQop.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/LU7BdyAbq1VWsP1tcW099qs0_cYd.xml
similarity index 51%
rename from resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hUjTM8Yelb7ggxXFg7nBPm4NKQop.xml
rename to resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/LU7BdyAbq1VWsP1tcW099qs0_cYd.xml
index 5c09e47..4356a6a 100644
--- a/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hUjTM8Yelb7ggxXFg7nBPm4NKQop.xml
+++ b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/LU7BdyAbq1VWsP1tcW099qs0_cYd.xml
@@ -1,2 +1,2 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<Info location="t1.zip" type="File"/>
\ No newline at end of file
+<Info/>
\ No newline at end of file
diff --git a/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/LU7BdyAbq1VWsP1tcW099qs0_cYp.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/LU7BdyAbq1VWsP1tcW099qs0_cYp.xml
new file mode 100644
index 0000000..2d5efd3
--- /dev/null
+++ b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/LU7BdyAbq1VWsP1tcW099qs0_cYp.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startRadio.sh" type="File"/>
\ No newline at end of file
diff --git a/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/M4B1x4nVEuLmUODrHewQHG0CDHsd.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/M4B1x4nVEuLmUODrHewQHG0CDHsd.xml
new file mode 100644
index 0000000..4356a6a
--- /dev/null
+++ b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/M4B1x4nVEuLmUODrHewQHG0CDHsd.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>
\ No newline at end of file
diff --git a/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/M4B1x4nVEuLmUODrHewQHG0CDHsp.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/M4B1x4nVEuLmUODrHewQHG0CDHsp.xml
new file mode 100644
index 0000000..01cb34e
--- /dev/null
+++ b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/M4B1x4nVEuLmUODrHewQHG0CDHsp.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="1" type="DIR_SIGNIFIER"/>
\ No newline at end of file
diff --git a/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/Wf9PEeTALvEX83cew4fZfavy2ewd.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/Wf9PEeTALvEX83cew4fZfavy2ewd.xml
new file mode 100644
index 0000000..4356a6a
--- /dev/null
+++ b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/Wf9PEeTALvEX83cew4fZfavy2ewd.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>
\ No newline at end of file
diff --git a/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/Wf9PEeTALvEX83cew4fZfavy2ewp.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/Wf9PEeTALvEX83cew4fZfavy2ewp.xml
new file mode 100644
index 0000000..f80e1ec
--- /dev/null
+++ b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/Wf9PEeTALvEX83cew4fZfavy2ewp.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startexperiment.sh" type="File"/>
\ No newline at end of file
diff --git a/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/bRP3MIwZ4PcWx9PloJbVyWC00JAd.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/bRP3MIwZ4PcWx9PloJbVyWC00JAd.xml
new file mode 100644
index 0000000..4356a6a
--- /dev/null
+++ b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/bRP3MIwZ4PcWx9PloJbVyWC00JAd.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>
\ No newline at end of file
diff --git a/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/bRP3MIwZ4PcWx9PloJbVyWC00JAp.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/bRP3MIwZ4PcWx9PloJbVyWC00JAp.xml
new file mode 100644
index 0000000..6f65749
--- /dev/null
+++ b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/bRP3MIwZ4PcWx9PloJbVyWC00JAp.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startVehicle.sh" type="File"/>
\ No newline at end of file
diff --git a/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/oczvKa9PTzIQRYD1e6ccXbiMz_wd.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/oczvKa9PTzIQRYD1e6ccXbiMz_wd.xml
new file mode 100644
index 0000000..4356a6a
--- /dev/null
+++ b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/oczvKa9PTzIQRYD1e6ccXbiMz_wd.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>
\ No newline at end of file
diff --git a/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/oczvKa9PTzIQRYD1e6ccXbiMz_wp.xml b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/oczvKa9PTzIQRYD1e6ccXbiMz_wp.xml
new file mode 100644
index 0000000..cca821c
--- /dev/null
+++ b/resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/oczvKa9PTzIQRYD1e6ccXbiMz_wp.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startVehicle_controller.sh" type="File"/>
\ No newline at end of file
diff --git a/resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/s1FGL5Sd2djlHMPxH7Uz8GEn55cp.xml b/resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/s1FGL5Sd2djlHMPxH7Uz8GEn55cp.xml
deleted file mode 100644
index 83fd7dc..0000000
--- a/resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/s1FGL5Sd2djlHMPxH7Uz8GEn55cp.xml
+++ /dev/null
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="scenario_2uavs.csv" type="File"/>
\ No newline at end of file