diff --git a/aerpaw/controller.coderprj b/aerpaw/controller.coderprj
index a9f8900..d93335a 100644
--- a/aerpaw/controller.coderprj
+++ b/aerpaw/controller.coderprj
@@ -145,7 +145,7 @@
                 </Artifacts>
                 <BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
                 <Success>true</Success>
-                <Timestamp>2026-01-30T17:33:44</Timestamp>
+                <Timestamp>2026-01-30T18:21:40</Timestamp>
               </MainBuildResult>
             </coderapp.internal.mlc.mfz.MatlabCoderProjectState>
           </MF0>
diff --git a/aerpaw/controller.m b/aerpaw/controller.m
index eea06da..955e1e2 100644
--- a/aerpaw/controller.m
+++ b/aerpaw/controller.m
@@ -56,37 +56,20 @@ for i = 1:numClients
     end
 end
 
-% Receive TARGET acknowledgments
-targetAcks = zeros(1, numClients, 'int32');
-for i = 1:numClients
-    if coder.target('MATLAB')
-        disp(['Waiting for ACK:TARGET from client ', num2str(i)]);
-        targetAcks(i) = 1;  % Simulate successful ACK
-    else
-        targetAcks(i) = coder.ceval('receiveTargetAck', int32(i));
-    end
-end
-
-% Check all ACKs received
+% Wait for TARGET acknowledgments from all clients (simultaneously using select())
 if coder.target('MATLAB')
-    disp(['Target ACKs received: ', num2str(targetAcks)]);
+    disp('Waiting for ACK:TARGET from all clients...');
+    disp('All TARGET acknowledgments received.');
+else
+    coder.ceval('waitForAllTargetAck', int32(numClients));
 end
 
-% Wait for READY signals (UAVs have reached their targets)
-readySignals = zeros(1, numClients, 'int32');
-for i = 1:numClients
-    if coder.target('MATLAB')
-        disp(['Waiting for READY from client ', num2str(i)]);
-        readySignals(i) = 1;  % Simulate READY
-    else
-        readySignals(i) = coder.ceval('waitForReady', int32(i));
-    end
-end
-
-% Check all READY signals received
+% Wait for READY signals from all clients (simultaneously using select())
 if coder.target('MATLAB')
-    disp(['Ready signals received: ', num2str(readySignals)]);
+    disp('Waiting for READY from all clients...');
     disp('All UAVs at target positions.');
+else
+    coder.ceval('waitForAllReady', int32(numClients));
 end
 
 % Wait for user input before closing experiment
diff --git a/aerpaw/impl/controller_impl.cpp b/aerpaw/impl/controller_impl.cpp
index 414f5bb..3736371 100644
--- a/aerpaw/impl/controller_impl.cpp
+++ b/aerpaw/impl/controller_impl.cpp
@@ -229,6 +229,18 @@ static int waitForAllMessage(int numClients, const char* expectedMessage) {
     return 1;
 }
 
+// Wait for ACK:TARGET from ALL clients simultaneously
+// Returns 1 if all clients acknowledged, 0 otherwise
+int waitForAllTargetAck(int numClients) {
+    return waitForAllMessage(numClients, "ACK:TARGET");
+}
+
+// Wait for READY from ALL clients simultaneously
+// Returns 1 if all clients are ready, 0 otherwise
+int waitForAllReady(int numClients) {
+    return waitForAllMessage(numClients, "READY");
+}
+
 // Wait for RTL_COMPLETE from ALL clients simultaneously
 // Returns 1 if all clients completed RTL, 0 otherwise
 int waitForAllRTLComplete(int numClients) {
diff --git a/aerpaw/impl/controller_impl.h b/aerpaw/impl/controller_impl.h
index ab9aefd..c0939ca 100644
--- a/aerpaw/impl/controller_impl.h
+++ b/aerpaw/impl/controller_impl.h
@@ -18,11 +18,15 @@ int receiveTargetAck(int clientId);
 int waitForReady(int clientId);
 void sendFinished(int clientId);
 
+// Parallel wait functions (using select() for simultaneous processing)
+int waitForAllTargetAck(int numClients);
+int waitForAllReady(int numClients);
+int waitForAllRTLComplete(int numClients);
+int waitForAllLANDComplete(int numClients);
+
 // RTL and LAND protocol functions
 void sendRTL(int clientId);
 void sendLAND(int clientId);
-int waitForAllRTLComplete(int numClients);
-int waitForAllLANDComplete(int numClients);
 void waitForUserInput();
 
 #ifdef __cplusplus