public override void ExecuteBehavior(Behavior behavior, Common.Coordinates location, RndfWaypointID lowerBound, RndfWaypointID upperBound)
        {
            if(behavior is UTurnBehavior)
            {
                //
            }

            // check to see if we are at the upper bound
            RndfWayPoint upperWaypoint = channelListener.RndfNetwork.Waypoints[upperBound];
            if (!(behavior is TurnBehavior) && upperWaypoint.NextLanePartition != null && location.DistanceTo(upperWaypoint.Position) < 3)
            {
                lowerBound = upperWaypoint.WaypointID;
                upperBound = upperWaypoint.NextLanePartition.FinalWaypoint.WaypointID;
            }

            Console.WriteLine("   > Received Instruction to Execute Behavior: " + behavior.ToString());
            if (behavior is StayInLaneBehavior)
            {
                StayInLaneBehavior stayInLane = (StayInLaneBehavior)behavior;

                if (stayInLane.SpeedCommand is StopLineLaneSpeedCommand)
                {
                    StopLineLaneSpeedCommand speedCommand = (StopLineLaneSpeedCommand)stayInLane.SpeedCommand;

                    if (speedCommand.Distance < 2)
                    {
                        // Create a fake vehicle state
                        VehicleState vehicleState = new VehicleState();
                        vehicleState.xyPosition = location;
                        LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
                        List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
                        laneEstimates.Add(laneEstimate);
                        vehicleState.speed = 0;
                        vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
                        this.PublishVehicleState(vehicleState);
                        ///Console.WriteLine("  > Published Position");
                    }
                    else
                    {
                        // Create a fake vehicle state
                        VehicleState vehicleState = new VehicleState();
                        vehicleState.xyPosition = channelListener.RndfNetwork.Waypoints[upperBound].Position;
                        LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
                        List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
                        laneEstimates.Add(laneEstimate);
                        vehicleState.speed = 3;
                        vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
                        this.PublishVehicleState(vehicleState);
                        ///Console.WriteLine("  > Published Position");
                    }
                }
                else if (stayInLane.SpeedCommand is StopLaneSpeedCommand)
                {
                    // Create a fake vehicle state
                    VehicleState vehicleState = new VehicleState();
                    vehicleState.xyPosition = location;
                    LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
                    List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
                    laneEstimates.Add(laneEstimate);
                    vehicleState.speed = -5;
                    vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
                    this.PublishVehicleState(vehicleState);
                    ///Console.WriteLine("  > Published Position");
                }
                else if(stayInLane.SpeedCommand is DefaultLaneSpeedCommand)
                {
                    // Create a fake vehicle state
                    VehicleState vehicleState = new VehicleState();
                    vehicleState.xyPosition = channelListener.RndfNetwork.Waypoints[upperBound].Position;
                    LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
                    List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
                    laneEstimates.Add(laneEstimate);
                    vehicleState.speed = 3;
                    vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
                    this.PublishVehicleState(vehicleState);
                    //Console.WriteLine("  > Published Position");
                }
                else
                {
                    throw new ArgumentException("Unknown Lane Speed Type", "stayInLane.SpeedCommand");
                }
            }
            // TODO: include midway point
            else if (behavior is TurnBehavior)
            {
                TurnBehavior currentBehavior = (TurnBehavior)behavior;

                RndfWayPoint exitWaypoint = channelListener.RndfNetwork.Waypoints[currentBehavior.ExitPoint];
                if (location.DistanceTo(exitWaypoint.Position) < 0.1)
                {
                    // Create a fake vehicle state
                    VehicleState vehicleState = new VehicleState();

                    RndfWayPoint entryWaypoint = channelListener.RndfNetwork.Waypoints[currentBehavior.EntryPoint];
                    Common.Coordinates change = entryWaypoint.Position - exitWaypoint.Position;
                    Common.Coordinates midpoint = exitWaypoint.Position + change/2;

                    LaneEstimate laneEstimate = new LaneEstimate(currentBehavior.ExitPoint.LaneID, currentBehavior.EntryPoint.LaneID, 1);

                    vehicleState.xyPosition = midpoint;
                    List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
                    laneEstimates.Add(laneEstimate);
                    vehicleState.speed = 3;
                    vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
                    this.PublishVehicleState(vehicleState);
                }
                else
                {
                    // Create a fake vehicle state
                    VehicleState vehicleState = new VehicleState();
                    vehicleState.xyPosition = channelListener.RndfNetwork.Waypoints[currentBehavior.EntryPoint].Position;
                    LaneEstimate laneEstimate = new LaneEstimate(currentBehavior.EntryPoint.LaneID, currentBehavior.EntryPoint.LaneID, 1);
                    List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
                    laneEstimates.Add(laneEstimate);
                    vehicleState.speed = 3;
                    vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
                    this.PublishVehicleState(vehicleState);
                    //Console.WriteLine("  > Published Position");
                }
            }
            else
            {
                throw new ArgumentException("Unknown Behavior Type", "behavior");
            }

            //Console.WriteLine("Sent Back Position \n");
        }