timestep, maxIter, minAlt, discretizationStep, sensorPerformanceMinimum, initialStepSize, barrierGain, barrierExponent, numObstacles, numAgents, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt
1, 10, 1, 0.01, 1e-6, 0.2, 100, 3, 4, 5, "0.1, 0.1, 0.1, 0.1, 0.1", "2.5, 2.5, 2.5, 2.5, 2.5", "3, 3, 3, 3, 3", "15, 15, 15, 15, 15", "3, 3, 3, 3, 3", "3, 3, 3, 3, 3"
1, 10, 1, 0.01, 1e-6, 0.2, 100, 3, 4, 5, "0.1, 0.1, 0.1, 0.1, 0.1", "3.5, 3.5, 3.5, 3.5, 3.5", "15, 15, 15, 15, 15", "30, 30, 30, 30, 30", "15, 15, 15, 15, 15", "3, 3, 3, 3, 3"