delta_s: 0.075
delta_v: 0.12
prop_delta: 0.12 * [0.05, 1]
start = [0.1,0.1,0,0,]
goal = [0.5, 0.5, 0.6, 0] +- [ 0.075, 0.075, 0.075, _ ]

frontier node propagation sample on

optimization iterations, quality:

1: 4.366925
2: 4.0489664
3: 3.4321098
4: 3.2385962
8: 2.5732057
12: 2.14029