diff --git a/settings_files/settings.yaml b/settings_files/settings.yaml
index 9950a91a4a5c4a4a82323e9d4ed52a77353deee3..ee8c061d12570b99c28fb5b3878f35d2615737da 100644
--- a/settings_files/settings.yaml
+++ b/settings_files/settings.yaml
@@ -10,8 +10,9 @@ model_predictive_controller:
   P: [10, 10]             # input rate of change cost for a differential drive robot
   print_level: 0
   print_time: 0
-  acceptable_tol: 100000
-  acceptable_iter: 1
+  acceptable_tol: 1.0e-4
+  acceptable_iter: 100
+  parallelize: 0
 
 multi_robot_traj_opt:
   rob_dist_weight: 10
@@ -41,7 +42,7 @@ robot_radii:
   - 5
 
 
-target_v: 3.0
+target_v: 1.0
 
 dynamics_models: 
   - Roomba
diff --git a/settings_files/settings_mpc.yaml b/settings_files/settings_mpc.yaml
index 7ef9d1db8347f56c3ed9968c90ffaa48ceacc452..0233b6446e1f30de0022810d62efbc79c50b6f72 100644
--- a/settings_files/settings_mpc.yaml
+++ b/settings_files/settings_mpc.yaml
@@ -10,8 +10,9 @@ model_predictive_controller:
   P: [10, 10]             # input rate of change cost for a differential drive robot
   print_level: 0
   print_time: 0
-  acceptable_tol: 999999999
-  acceptable_iter: 1
+  acceptable_tol: 1.0e-4
+  acceptable_iter: 100
+  parallelize: 1
 
 multi_robot_traj_opt:
   rob_dist_weight: 10
@@ -19,7 +20,7 @@ multi_robot_traj_opt:
   time_weight: 5
 
 simulator:
-  dt: .3
+  dt: .1
   scaling_factor: 6.0
 
 environment: