Object is raised about 10 to 13ft above seabed and curved at the sides like a mushroom It has a 60 metre diameter with an egg-shaped hole leading into it from the top Hole is surrounded by an strange ...

My implemntation is still not optimal, but it seems to work with small number of agents. When increasing the number of agents, if the number of obstacles is big, there will be glitches in the system, ...