private void runExperiment(String prefix) {
        Environment.inst().init(p);
        
        double totalAvg = 0.0;
        
        int t;
        for (t = 0; t < 150000; ++t) {
            Environment.inst().timeStep();
            if (!Environment.inst().continueGoing()) {
                break;
            }
            
            double count = 0;
            double avg   = 0;
            for (int i = 0; i < p.n; ++i) {
                Robot r = Environment.inst().getRobot(i);
                if (!r.isDone()) {
                    avg += r.getDistance();
                    count += 1;
                }
            }
            if (count > 0) {
                avg /= count;
                totalAvg += avg;
            }
        }
        
        totalAvg /= (double) t;
        speedOutput.append(prefix + " AvgSpeed " + totalAvg + "\n");
    }