playing with parameters and added comments
code cleansing
corrected disconnected behavior

when moving in the direction steepest decent also take care of
obstacles.
tarLoc initialized
playing with params
set task_assigned and in_relay flags
commented out unused flags

to be deleted in future
changed definition of base poly

connectivity now calculated from node centres as against previous
boundary
integrated for current strategy
commented out task sensing

not being used. To decide what to do with it in future : fix it or
delete it
debugging
deleted old test case
added .mat to ignore files
collision avoidance

next loc cell cost changed. yet to be fixed as final.
documentation

added comments
documentation