diff --git a/Cargo.toml b/Cargo.toml
index 030945b..fc7a987 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -30,7 +30,7 @@ bevy_tts = { git = "https://github.com/lightsoutgames/bevy_tts", default-feature
 coord_2d = "0.3"
 futures-lite = "1"
 gilrs = "0.9"
-here_be_dragons = "0.1"
+here_be_dragons = "0.2"
 leafwing_input_manager = { git = "https://github.com/leafwing-studios/leafwing-input-manager", branch = "dev" }
 maze_generator = "2"
 once_cell = "1"
diff --git a/src/map.rs b/src/map.rs
index 4d9e228..b97e6f2 100644
--- a/src/map.rs
+++ b/src/map.rs
@@ -196,19 +196,21 @@ fn spawn_colliders<D: 'static + Clone + Default + Send + Sync>(
                 .insert(RigidBody::Fixed);
             for y in 0..map.height {
                 for x in 0..map.width {
-                    let tile = map.at(x, y);
-                    if tile.blocks_motion() {
-                        let id = commands
-                            .spawn()
-                            .insert(Collider::cuboid(0.5, 0.5))
-                            .insert(Transform::from_xyz(x as f32 + 0.5, y as f32 + 0.5, 0.))
-                            .insert(GlobalTransform::default())
-                            .insert(MapObstruction)
-                            .id();
-                        if tile.blocks_visibility() {
-                            commands.entity(id).insert(Visible::opaque());
+                    if let Some(tile) = map.at(x, y) {
+                        if tile.blocks_motion() {
+                            let id =
+                                commands
+                                    .spawn_bundle(TransformBundle::from_transform(
+                                        Transform::from_xyz(x as f32 + 0.5, y as f32 + 0.5, 0.),
+                                    ))
+                                    .insert(Collider::cuboid(0.5, 0.5))
+                                    .insert(MapObstruction)
+                                    .id();
+                            if tile.blocks_visibility() {
+                                commands.entity(id).insert(Visible::opaque());
+                            }
+                            commands.entity(map_entity).push_children(&[id]);
                         }
-                        commands.entity(map_entity).push_children(&[id]);
                     }
                 }
             }
@@ -218,15 +220,14 @@ fn spawn_colliders<D: 'static + Clone + Default + Send + Sync>(
                     Isometry2::new(Vector2::new(room.center().x(), room.center().y()), 0.);
                 let aabb = shape.raw.compute_aabb(&position);
                 let id = commands
-                    .spawn()
-                    .insert(shape)
-                    .insert(Sensor)
-                    .insert(ActiveEvents::COLLISION_EVENTS)
-                    .insert_bundle(TransformBundle::from_transform(Transform::from_xyz(
+                    .spawn_bundle(TransformBundle::from_transform(Transform::from_xyz(
                         position.translation.x,
                         position.translation.y,
                         0.,
                     )))
+                    .insert(shape)
+                    .insert(Sensor)
+                    .insert(ActiveEvents::COLLISION_EVENTS)
                     .insert(Area(aabb))
                     .insert(Zone)
                     .id();
diff --git a/src/pathfinding.rs b/src/pathfinding.rs
index fb234ad..9e5b1e8 100644
--- a/src/pathfinding.rs
+++ b/src/pathfinding.rs
@@ -48,9 +48,11 @@ pub fn find_path<D: 'static + Clone + Default + Send + Sync>(
         &start.into(),
         |p| {
             let mut successors: Vec<((i32, i32), u32)> = vec![];
-            if map.at(p.0 as usize, p.1 as usize).is_walkable() {
-                for tile in map.get_available_exits(p.0 as usize, p.1 as usize) {
-                    successors.push(((tile.0 as i32, tile.1 as i32), (tile.2 * 100.) as u32));
+            if let Some(tile) = map.at(p.0 as usize, p.1 as usize) {
+                if tile.is_walkable() {
+                    for tile in map.get_available_exits(p.0 as usize, p.1 as usize) {
+                        successors.push(((tile.0 as i32, tile.1 as i32), (tile.2 * 100.) as u32));
+                    }
                 }
             }
             successors
@@ -74,25 +76,30 @@ fn find_path_for_shape<D: 'static + Clone + Default + Send + Sync>(
         &start.i32(),
         |p| {
             let mut successors: Vec<((i32, i32), u32)> = vec![];
-            if map.at(p.0 as usize, p.1 as usize).is_walkable() {
-                for tile in map.get_available_exits(p.0 as usize, p.1 as usize) {
-                    let mut should_push = true;
-                    let shape_pos =
-                        Isometry2::new(Vector2::new(tile.0 as f32 + 0.5, tile.1 as f32 + 0.5), 0.);
-                    query_pipeline.intersections_with_shape(
-                        &rigid_body_set,
-                        &collider_set,
-                        &shape_pos,
-                        &*shape.raw,
-                        bevy_rapier2d::rapier::pipeline::QueryFilter::new()
-                            .predicate(&|h, _c| h != initiator),
-                        |_handle| {
-                            should_push = false;
-                            false
-                        },
-                    );
-                    if should_push {
-                        successors.push(((tile.0 as i32, tile.1 as i32), (tile.2 * 100.) as u32));
+            if let Some(tile) = map.at(p.0 as usize, p.1 as usize) {
+                if tile.is_walkable() {
+                    for tile in map.get_available_exits(p.0 as usize, p.1 as usize) {
+                        let mut should_push = true;
+                        let shape_pos = Isometry2::new(
+                            Vector2::new(tile.0 as f32 + 0.5, tile.1 as f32 + 0.5),
+                            0.,
+                        );
+                        query_pipeline.intersections_with_shape(
+                            &rigid_body_set,
+                            &collider_set,
+                            &shape_pos,
+                            &*shape.raw,
+                            bevy_rapier2d::rapier::pipeline::QueryFilter::new()
+                                .predicate(&|h, _c| h != initiator),
+                            |_handle| {
+                                should_push = false;
+                                false
+                            },
+                        );
+                        if should_push {
+                            successors
+                                .push(((tile.0 as i32, tile.1 as i32), (tile.2 * 100.) as u32));
+                        }
                     }
                 }
             }
@@ -261,6 +268,6 @@ impl<D: 'static + Clone + Default + Send + Sync> Plugin for PathfindingPlugin<D>
         app.add_system(calculate_path::<D>)
             .add_system_to_stage(CoreStage::PostUpdate, remove_destination)
             .add_system(poll_tasks)
-            .add_system(negotiate_path);
+            .add_system(negotiate_path.after(crate::navigation::limit_speed));
     }
 }