diff --git a/aerpaw/config/scenario_columns.csv b/aerpaw/config/scenario_columns.csv
new file mode 100644
index 0000000..1e11351
--- /dev/null
+++ b/aerpaw/config/scenario_columns.csv
@@ -0,0 +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, useDoubleIntegrator, dampingCoeff, useFixedTopology
+1, 50, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "60.0, 80.0, 45.0, 70.0", "70, 15, 15, 20, 20, 15, 15, 70", 0.15, "10.0, 10.0, 50.0, 40.0, 15.0, 45.0", 8, "0.0, 30.0, 0.0, 42.0, 30.0, 0.0, 84.0, 30.0, 0.0, 13.0, 60.0, 0.0, 55.0, 60.0, 0.0, 0.0, 90, 0.0, 42.0, 90.0, 0.0, 84.0, 90.0, 0.0", "16.0, 40.0, 100.0, 58.0, 40.0, 100.0, 100.0, 40.0, 100.0, 29.0, 70.0, 100.0, 71.0, 70.0, 100.0, 16.0, 100.0, 100.0, 58.0, 100.0, 100.0, 100.0, 100.0, 100.0", 0, 2.0, 1
\ No newline at end of file
diff --git a/aerpaw/config/scenario_lock.csv b/aerpaw/config/scenario_lock.csv
new file mode 100644
index 0000000..3dbf3b4
--- /dev/null
+++ b/aerpaw/config/scenario_lock.csv
@@ -0,0 +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, useDoubleIntegrator, dampingCoeff, useFixedTopology
+1, 65, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "30.0, 80.0", "60, 20, 20, 30", 0.15, "65.0, 15.0, 65.0, 65.0, 15.0, 45.0", 3, "0.0, 25.0, 55.0, 40.0, 10.0, 0.0, 40.0, 45.0, 60.0", "100.0, 70.0, 60.0, 45.0, 80.0, 55.0, 100.0, 50.0, 100.0", 0, 2.0, 1
\ No newline at end of file
diff --git a/aerpaw/config/scenario_two_around_wall.csv b/aerpaw/config/scenario_two_around_wall.csv
new file mode 100644
index 0000000..f155cfc
--- /dev/null
+++ b/aerpaw/config/scenario_two_around_wall.csv
@@ -0,0 +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, useDoubleIntegrator, dampingCoeff, useFixedTopology
+1, 100, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 80.0", "0.25, 0.25", "8.0, 8.0", "0.1, 0.1", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "66.6, 66.6", "55, 35, 35, 55", 0.15, "15.0, 15.0, 50.0, 40.0, 15.0, 50.0", 1, "0.0, 35.0, 0.0", "50, 40.0, 60", 1, 2.0, 1
\ No newline at end of file
diff --git a/aerpaw/config/scenario_walls.csv b/aerpaw/config/scenario_walls.csv
new file mode 100644
index 0000000..1dd65d4
--- /dev/null
+++ b/aerpaw/config/scenario_walls.csv
@@ -0,0 +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, useDoubleIntegrator, dampingCoeff, useFixedTopology
+1, 65, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "30.0, 80.0", "60, 20, 20, 30", 0.15, "90.0, 10.0, 50.0, 65.0, 15.0, 45.0", 4, "0.0, 30.0, 0.0, 70.0, 30.0, 0.0, 0.0, 60.0, 0.0, 55.0, 60.0, 0.0", "50.0, 40.0, 100.0, 100.0, 40.0, 100.0, 35.0, 70.0, 100.0, 100.0, 70.0, 100.0", 0, 2.0, 1
\ No newline at end of file
diff --git a/test/parametricTestSuite.m b/test/parametricTestSuite.m
index 5db14a8..e7b0cc1 100644
--- a/test/parametricTestSuite.m
+++ b/test/parametricTestSuite.m
@@ -34,8 +34,14 @@ classdef parametricTestSuite < matlab.unittest.TestCase
 
             % Define scenario according to CSV specification
             tc.domain = tc.domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain");
-            objectiveSigma = reshape(params.objectiveVar, [1 2 2]);
-            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, objectiveSigma), tc.domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum, params.objectivePos, objectiveSigma);
+            if length(params.objectiveVar) > 4 && length(params.objectivePos) > 2
+                objectiveSigma = permute(reshape(params.objectiveVar, [length(params.objectiveVar)/4 2 2]), [3 1 2]);
+                objectivePos = reshape(params.objectivePos, [length(params.objectivePos)/2, 2])';
+            else
+                objectiveSigma = reshape(params.objectiveVar, [1, 2, 2]);
+                objectivePos = params.objectivePos;
+            end
+            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(objectivePos, objectiveSigma), tc.domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum, objectivePos, objectiveSigma);
 
             agents = cell(size(params.initialPositions, 2) / 3, 1);
             for ii = 1:size(agents, 1)