The same as last week. Here are just some constants I found out not to work:
(target magnitude, obstacle multiple, radius)
(200,9.0,0.4)
(200,10.0,0.4)
(200,10.0,0.3)
(100,9.0,0.4)
(190,9.0,0.4)
(200,11.0,0.4)
(190,8.5,0.4)
(185,9.0,0.4)
(1000,10.0,0.5)

As of friday the avoider navigated the robot as on those videos. We'll see what happens in Boston.

Video