Experimental changes on desktop and analysis changes on laptop

Made changes to botSimMain remotely on desktop but was working on ProbConfusion notbook locally on laptop

Fixed a bug where if the controller for one of the robots failed then the others would continue and become stuck at pooling as not enough neighbours. Added a check that all the controller threads are alive and if not it stops the current simulations and kills all alive controller threads. Simulation pass over from one to the next successfully, now just waiting to see if it copes with failures as planned

Added querying so starts and stops automatically and efficiently with no wasted time. Have also redone testParams using new experimental model

Added todo notes and also added exception capture for the unicode error as can't quite figure out what's causing it.

Made a few changes to the plotting of the performance values. Need to wait for all simulations to get a good idea of what is going to work.

Made some logging changes on dEesktop but forgot to pull laptop changes

Working on the analysis notebook at UoB and simulation remotely at BRL