diff --git a/index.html b/index.html
index ba6c077..f21c259 100644
--- a/index.html
+++ b/index.html
@@ -14,7 +14,6 @@
     h1 {
       color: #333;
     }
-
     .form-group {
       margin-bottom: 15px;
     }
@@ -55,6 +54,13 @@
     <input type="text" id="radius" placeholder="e.g. 1.0" />
   </div>
   <button onclick="performRangeQuery()">Perform Range Query</button>
+  
+  <div class="form-group">
+    <label for="knn">Number of Neighbors (k):</label>
+    <input type="text" id="knn" placeholder="e.g. 5" />
+  </div>
+  <button onclick="performKNNQuery()">Perform KNN Query</button>
+
   <div id="result"></div>
 
   <script>
@@ -62,11 +68,16 @@
       const queryPoint = document.getElementById('queryPoint').value;
       const radius = document.getElementById('radius').value;
       const response = await fetch(`/rangeQuery?queryPoint=${encodeURIComponent(queryPoint)}&radius=${encodeURIComponent(radius)}`);
-      //const result = await response.json();
-      //document.getElementById('result').innerText = JSON.stringify(result, null, 2);
+      document.getElementById('result').innerText = await response.text();
+    }
+
+    async function performKNNQuery() {
+      const queryPoint = document.getElementById('queryPoint').value;
+      const k = document.getElementById('knn').value;
+      const response = await fetch(`/kNNQuery?queryPoint=${encodeURIComponent(queryPoint)}&k=${encodeURIComponent(k)}`);
       document.getElementById('result').innerText = await response.text();
     }
   </script>
 </body>
 
-</html>
\ No newline at end of file
+</html>
diff --git a/index.js b/index.js
index afabb07..d6bd942 100644
--- a/index.js
+++ b/index.js
@@ -1,7 +1,7 @@
 const express = require('express');
 const bodyParser = require('body-parser');
 const MTree = require('./m-tree/mtree');
-const dimensions = 3;
+const dimensions = 2;
 
 // Generator used to generate random points for the MTree
 const Generator = require('./data/generator');
@@ -16,14 +16,14 @@ function euclideanDistance(a, b) {
 }
 
 // Create an MTree with the given dimensions and capacity, using the Euclidean distance
-const mtree = new MTree(dimensions, 6, euclideanDistance);
+const mtree = new MTree(dimensions, 10, euclideanDistance);
 
 // Generate 1000 random points
 const generator = new Generator(dimensions);
-const points = generator.generateMany(100);
-let i = 0;
+const points = generator.generateMany(10000);
+
 // Insert all points into the MTree
-points.forEach(point => { mtree.insert(point); i++; console.log(i); });
+points.forEach(point => mtree.insert(point));
 
 // Serve the index.html file
 app.get('/', (req, res) => {
@@ -51,14 +51,27 @@ app.post('/insert', (req, res) => {
 // Perform a range query on the MTree
 app.get('/rangeQuery', (req, res) => {
     const { queryPoint, radius } = req.query;
-    if (!queryPoint || !radius) {
+    if (!queryPoint || !radius || JSON.parse(queryPoint).length !== dimensions) {
         return res.status(400).send('Invalid query parameters');
     }
+    console.time('mtreeRangeQuery');
     const result = mtree.rangeQuery(JSON.parse(queryPoint), parseFloat(radius));
+    console.timeEnd('mtreeRangeQuery');
+    console.log(result);
 
+    console.time('sequentialSearch');
     const sequentialResult = points.filter(point => euclideanDistance(point, JSON.parse(queryPoint)) <= parseFloat(radius));
+    console.timeEnd('sequentialSearch');
+    //console.log(sequentialResult.map(point => "point:" + point +" distance: " + euclideanDistance(point, JSON.parse(queryPoint))));
     console.log(sequentialResult);
 
+    /*const furthestPoint = points.reduce((furthest, point) => {
+        const distance = euclideanDistance(point, mtree.root.entries[0].point);
+        return distance > euclideanDistance(furthest, mtree.root.entries[0].point) ? point : furthest;
+    }, points[0]);
+    console.log(`distance between first routing entry centroid and furthest point: ${euclideanDistance(furthestPoint, mtree.root.entries[0].point)}`);
+    console.log(`radius of first routing entry: ${furthestPoint, mtree.root.entries[0].radius}`);*/
+
     res.send(result);
 });
 
@@ -68,14 +81,25 @@ app.get('/kNNQuery', (req, res) => {
     if (!queryPoint || !k) {
         return res.status(400).send('Invalid query parameters');
     }
-    const result = mtree.kNNQuery(JSON.parse(queryPoint), parseInt(k, 10));
+    const parsedQueryPoint = JSON.parse(queryPoint);
+    const kInt = parseInt(k, 10);
+
+    console.time('mtreeSearch');
+    const result = mtree.kNNQuery(parsedQueryPoint, kInt);
+    console.timeEnd('mtreeSearch');
+
+    console.time('sequentialSearch');
+    const sequentialResult = points.sort((a, b) => euclideanDistance(a, parsedQueryPoint) - euclideanDistance(b, parsedQueryPoint)).slice(0, kInt);
+    console.timeEnd('sequentialSearch');
+
+    console.log(sequentialResult);
+
     res.send(result);
 });
 
 // Start the server
 app.listen(3000, () => {
     console.log('MTree API is running on port 3000');
-    //console.log(mtree);
 });
 
 // Recreate the MTree with the given dimensions
diff --git a/m-tree/mtree.js b/m-tree/mtree.js
index 9137c0a..ae7aa66 100644
--- a/m-tree/mtree.js
+++ b/m-tree/mtree.js
@@ -19,23 +19,40 @@ class MTree {
    * @param {number[]} point - The point to insert
    */
   insert(point) {
-    const node = this.findLeafNode(this.root, point);
-    if (!node) {
+    // Find the leaf node that should hold the given point
+    const leafNode = this.findLeafNode(this.root, point);
+    if (!leafNode) {
       throw new Error('No leaf node found for insertion');
     }
 
+    // Create a new ground entry from the point
     const groundEntry = new GroundEntry(point);
-    node.entries.push(groundEntry);
-    console.log(node.entries.length, this.capacity);
-    if (node.entries.length > this.capacity) {
-      this.splitNode(node);
+
+    // Add the ground entry to the leaf node's entries
+    leafNode.entries.push(groundEntry);
+
+    // Update the centroid and radius of the leaf node's routing entry
+    if (leafNode.parent !== null) {
+      const leafEntry = leafNode.parent.entries.find(entry => entry.node === leafNode);
+      if (leafEntry) {
+        leafEntry.updateCentroid();
+        leafEntry.updateRadius();
+      }
     }
 
-    // Update radius for each routing entry from leaf to root
-    let currentNode = node;
-    while (currentNode.parent) {
+    // If the leaf node now has more than the capacity amount of entries, split it
+    if (leafNode.entries.length > this.capacity) {
+      this.splitNode(leafNode);
+    }
+
+    //console.log(`found leaf node: ${leafNode.id}`);
+    // Update the routing entries of ancestors of the leaf node
+    let currentNode = leafNode;
+    while (currentNode.parent !== null) {
       const routingEntry = currentNode.parent.entries.find(entry => entry.node === currentNode);
       if (routingEntry) {
+        //console.log(`updating routing entry: ${routingEntry.node.id}`);
+        routingEntry.updateCentroid();
         routingEntry.updateRadius();
       }
       currentNode = currentNode.parent;
@@ -54,9 +71,11 @@ class MTree {
       throw new Error('Node is undefined');
     }
     if (node.isLeaf) {
+      //console.log("found leaf node");
       return node;
     }
     const closestEntry = this.findClosestEntry(node.entries, point);
+    //console.log(`closest node: ${closestEntry.node.id}, distance: ${this.distanceFunction(point, closestEntry.point)}`);
     if (!closestEntry) {
       return node;
     }
@@ -83,57 +102,6 @@ class MTree {
     return closestEntry;
   }
 
-  /**
-   * Splits the given node into two nodes when the number of entries exceeds capacity.
-   * The original node retains half of the entries, and a new node is created with the other half.
-   * The new node is linked to the original node as a child by calculating and using the centroid 
-   * as the connecting entry point.
-   * 
-   * @param {Node} node - The node to be split.
-   */
-  splitRoot(node) {
-    if (!node) {
-      throw new Error('Node is undefined');
-    }
-
-    const entries = node.entries;
-    const halfSize = Math.floor(entries.length / 2);
-
-    let minRadius = Infinity;
-    let bestSplit = null;
-
-    // Loop through all combinations of entries that contain half of the total entries
-    const combinations = this.getCombinations(entries, halfSize);
-    // console.log(combinations.map(combination => combination.map(entry => entry.point)), "size: " + combinations.length);
-    for (const combination of combinations) {
-      const leftEntries = combination;
-      const rightEntries = entries.filter(entry => !leftEntries.includes(entry));
-
-      // Calculate the radius for each group
-      const leftRadius = this.calculateRadius(leftEntries);
-      const rightRadius = this.calculateRadius(rightEntries);
-
-      // Calculate the total radius for this split
-      const totalRadius = Math.max(leftRadius, rightRadius);
-
-      // Update the best split if this one has a smaller radius
-      if (totalRadius < minRadius) {
-        minRadius = totalRadius;
-        bestSplit = { leftEntries, rightEntries };
-      }
-    }
-
-    const leftNode = new Node(bestSplit.leftEntries, node.isLeaf);
-    const rightNode = new Node(bestSplit.rightEntries, node.isLeaf);
-    leftNode.parent = node; // Set parent of leftNode
-    rightNode.parent = node; // Set parent of rightNode
-
-    const rightEntry = new RoutingEntry(rightNode, this);
-    const leftEntry = new RoutingEntry(leftNode, this);
-    node.entries = [leftEntry, rightEntry];
-    node.isLeaf = false;
-  }
-
   /**
    * Calculates the radius of the given entries.
    * The radius is the maximum distance from the centroid of the entries to any point in the entries.
@@ -145,7 +113,7 @@ class MTree {
     // Calculate the centroid of the entries
     const sum = entries.reduce((acc, entry) => {
       return acc.map((val, i) => val + entry.point[i]);
-    }, new Array(entries[0].point.length).fill(0));
+    }, new Array(this.dimension).fill(0));
     const centroidPoint = sum.map(val => val / entries.length);
 
     // Calculate the maximum distance from the centroid to any point in the entries
@@ -154,18 +122,20 @@ class MTree {
     return maxDistance;
   }
 
+  /**
+   * Splits a node into two nodes by finding the best split that minimizes the total radius of the two nodes.
+   * @param {Node} node - The node to split
+   */
   splitNode(node) {
     const entries = node.entries;
     const halfSize = Math.floor(entries.length / 2);
 
-    let minRadius = Infinity;
+    let minTotalRadius = Infinity;
     let bestSplit = null;
 
     // Loop through all combinations of entries that contain half of the total entries
-    const combinations = this.getCombinations(entries, halfSize);
-    // console.log(combinations.map(combination => combination.map(entry => entry.point)), "size: " + combinations.length);
-    for (const combination of combinations) {
-      const leftEntries = combination;
+    const entryCombinations = this.getCombinations(entries, halfSize);
+    for (const leftEntries of entryCombinations) {
       const rightEntries = entries.filter(entry => !leftEntries.includes(entry));
 
       // Calculate the radius for each group
@@ -173,31 +143,53 @@ class MTree {
       const rightRadius = this.calculateRadius(rightEntries);
 
       // Calculate the total radius for this split
-      const totalRadius = Math.max(leftRadius, rightRadius);
+      //const totalRadius = Math.max(leftRadius, rightRadius);
+      const totalRadius = leftRadius + rightRadius;
 
       // Update the best split if this one has a smaller radius
-      if (totalRadius < minRadius) {
-        minRadius = totalRadius;
+      if (totalRadius < minTotalRadius) {
+        minTotalRadius = totalRadius;
         bestSplit = { leftEntries, rightEntries };
       }
     }
 
-    const newNode = new Node(bestSplit.rightEntries, node.isLeaf, node.parent);
-
-    if (node.parent) {
+    if (node.parent !== null) {
       // If the node is not a root node, split it into two nodes
       // and link the new node to the original node's parent as a sibling
+      const newNode = new Node(bestSplit.rightEntries, node.isLeaf, node.parent);
+      if (!node.isLeaf)
+        bestSplit.rightEntries.forEach(entry => entry.node.parent = newNode);
+
       const rightEntry = new RoutingEntry(newNode, this);
+      node.entries = bestSplit.leftEntries;
       node.parent.entries.push(rightEntry);
 
+      const nodeEntry = node.parent.entries.find(entry => entry.node === node);
+      if (nodeEntry) {
+        nodeEntry.updateCentroid();
+        nodeEntry.updateRadius();
+      }
       if (node.parent.entries.length > this.capacity)
         // If the parent node now has more than capacity entries, split it too
         this.splitNode(node.parent);
 
-      node.entries = bestSplit.leftEntries;
     } else {
       // If the node is a root node, split it into two new nodes
-      this.splitRoot(node);
+      const leftNode = new Node(bestSplit.leftEntries, node.isLeaf);
+      const rightNode = new Node(bestSplit.rightEntries, node.isLeaf);
+
+      leftNode.parent = node;
+      rightNode.parent = node;
+      if (!node.isLeaf) {
+        bestSplit.leftEntries.forEach(entry => entry.node.parent = leftNode);
+        bestSplit.rightEntries.forEach(entry => entry.node.parent = rightNode);
+      }
+
+      const rightEntry = new RoutingEntry(rightNode, this);
+      const leftEntry = new RoutingEntry(leftNode, this);
+
+      node.entries = [leftEntry, rightEntry];
+      node.isLeaf = false;
     }
   }
 
@@ -216,11 +208,11 @@ class MTree {
   }
 
   /**
-   * Returns all points in the tree that are within the given radius of the given query point.
-   * @param {number[]} queryPoint - The point to search around.
-   * @param {number} radius - The radius to search within.
-   * @returns {number[][]} An array of points that are within the radius of the query point.
-   */
+     * Returns all points in the tree that are within the given radius of the given query point.
+     * @param {number[]} queryPoint - The point to search around.
+     * @param {number} radius - The radius to search within.
+     * @returns {number[][]} An array of points that are within the radius of the query point.
+     */
   rangeQuery(queryPoint, radius) {
     //console.log(`rangeQuery: queryPoint=${JSON.stringify(queryPoint)}, radius=${radius}`);
     const result = [];
@@ -235,7 +227,6 @@ class MTree {
    * @param {number[]} queryPoint - The point to search around
    * @param {number} radius - The radius to search within
    * @param {number[][]} result - An array to store the result in
-   * @returns {undefined}
    */
   rangeQueryRecursive(node, queryPoint, radius, result) {
     //console.log(`rangeQueryRecursive: node=${node.id}, queryPoint=${JSON.stringify(queryPoint)}, radius=${radius}`);
@@ -250,15 +241,15 @@ class MTree {
       for (const entry of node.entries) {
         //console.log(`rangeQueryRecursive: checking routing entry ${entry}`);
         const distance = this.distanceFunction(queryPoint, entry.point);
-        if (distance > radius + entry.radius) {
-          //console.log(`rangeQueryRecursive: regions do not overlap, stopping the recursion on this branch`);
-          continue;
-        }
-        this.rangeQueryRecursive(entry.node, queryPoint, radius, result);
+        if (distance <= radius + entry.radius)
+          this.rangeQueryRecursive(entry.node, queryPoint, radius, result);
+        //else
+        //  console.log(`rangeQueryRecursive: skipping node ${entry.node.id} due to distance ${distance} > ${radius + entry.radius}`);
       }
     }
   }
 
+
   /**
    * Finds the k nearest neighbors to a given query point.
    * @param {number[]} queryPoint - The point to find the nearest neighbors to
@@ -284,9 +275,8 @@ class MTree {
       for (const entry of node.entries) {
         const distance = this.distanceFunction(queryPoint, entry.point);
         if (distance < result[k - 1].distance) {
-          result.push({ point: entry.point, distance });
+          result[k - 1] = { point: entry.point, distance: distance };
           result.sort((a, b) => a.distance - b.distance);
-          result.pop();
         }
       }
     } else {
@@ -302,3 +292,4 @@ class MTree {
 
 module.exports = MTree;
 
+
diff --git a/m-tree/nodes.js b/m-tree/nodes.js
index a41dcdb..31b1b24 100644
--- a/m-tree/nodes.js
+++ b/m-tree/nodes.js
@@ -20,13 +20,18 @@ class RoutingEntry {
    * Computes the average position of all points in the associated node's entries.
    */
   updateCentroid() {
-    const centroid = new Array(this.mtree.dimension).fill(0);
+    const sum = this.node.entries.reduce((acc, entry) => {
+      return acc.map((val, i) => val + entry.point[i]);
+    }, new Array(this.mtree.dimension).fill(0));
+    this.point = sum.map(val => val / this.node.entries.length);
+
+    /*const centroid = new Array(this.mtree.dimension).fill(0);
     for (const entry of this.node.entries) {
       for (let i = 0; i < this.mtree.dimension; i++) {
         centroid[i] += entry.point[i];
       }
     }
-    this.point = centroid.map(x => x / this.node.entries.length);
+    this.point = centroid.map(x => x / this.node.entries.length);*/
   }
   
   /**
@@ -34,8 +39,21 @@ class RoutingEntry {
    * Determines the maximum distance from the centroid to any point in the node's entries.
    */
   updateRadius() {
-    this.radius = Math.max(...this.node.entries.map(entry => this.mtree.distanceFunction(entry.point, this.point)));
+    const allGroundEntries = [];
+    const findGroundEntries = node => {
+      if (node.isLeaf) {
+        allGroundEntries.push(...node.entries.filter(entry => entry instanceof GroundEntry));
+      } else {
+        for (const entry of node.entries) {
+          findGroundEntries(entry.node);
+        }
+      }
+    };
+    findGroundEntries(this.node);
+    this.radius = Math.max(...allGroundEntries.map(entry => this.mtree.distanceFunction(entry.point, this.point)));
   }
+
+  // TODO check if new entry requires larger radius and then update
 }
 
 class GroundEntry {
@@ -64,8 +82,6 @@ class Node {
     this.entries = entries;
     this.isLeaf = isLeaf;
     this.parent = parent;
-    //this.next = null;
-    //this.prev = null;
   }
 }