Anders Rehan Pattern
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1. Implement debugging state colouring - Anders
2. Change random parameters to get better ground coverage - Rehan
3. In chain has probability of disconnecting when (at front) or back - Rehan
4. Chains move around - (modified) random walk + search for chain
5. Better alignment at back of chain
6. Make sure sbot can approach chain of more than one sbot successfully
7. Fix distance at back of chain
