Tuning algorithms Phase 2 (SOTA parity) + Phase 3 (differentiators) - #435

Node.js 20 is deprecated. The following actions target Node.js 20 but are being forced to run on Node.js 24: actions/checkout@v4, actions/setup-node@v4. For more information see: https://github.blog/changelog/2025-09-19-deprecation-of-node-20-on-github-actions-runners/

'i' is defined but never used. Allowed unused args must match /^_/u

'i' is defined but never used. Allowed unused args must match /^_/u

'i' is defined but never used. Allowed unused args must match /^_/u

'i' is defined but never used. Allowed unused args must match /^_/u

'i' is defined but never used. Allowed unused args must match /^_/u

'i' is defined but never used. Allowed unused args must match /^_/u

'i' is defined but never used. Allowed unused args must match /^_/u

'i' is defined but never used. Allowed unused args must match /^_/u

'droneSize' is defined but never used. Allowed unused args must match /^_/u