fix error in cleanupWhitelist
add testing for setupSearchArea and fix some bugs
check frequently for radius, so filtering stays within it
improve escape strategies; create function to go through whitelist
stay within radius when filtering
DRIVE_TO_GOAL... trigger in publishGoal
clenupWhitelist now based on frontierRegion rather than on goal; add threshold parameter
clening...
fix bugs in filter; add runtime measure and log to FII
overload writeToFile with some options