diff --git a/CoLo-AT/dataset_manager/simulated_dataset_manager.py b/CoLo-AT/dataset_manager/simulated_dataset_manager.py
index ec659335d8804b4e38a6c62a24ef4ca9fe304659..f31dccb407da170b1a61f67bd7ade77a3bfb0965 100644
--- a/CoLo-AT/dataset_manager/simulated_dataset_manager.py
+++ b/CoLo-AT/dataset_manager/simulated_dataset_manager.py
@@ -193,12 +193,11 @@ class SimulatedDataSetManager:
                 available_measurements.append(measurement['measurment_range'])
                 measurement_indices.append(data_idx)
 
-        # Select the "best"=shortest distance measurement
-        if (len(available_measurements) != 0):
-            least_index = np.argmin(available_measurements)
-            idx = measurement_indices[least_index]
-            return self.measurement_data[robot_idx][idx]
-
-
-        # No measurement data available (ex: no landmarks in vision at given time)
-        return {'time': current_time, 'subject_ID': None, 'measurment_range': None,'bearing': None}
\ No newline at end of file
+        # No exact matches at that time
+        if (len(available_measurements)== 0):
+            time_idx = find_nearest_time_idx(self.time_arr['measurement'][robot_idx], current_time)
+            return self.measurement_data[robot_idx][time_idx]
+
+        least_index = np.argmin(available_measurements)
+        idx = measurement_indices[least_index]
+        return self.measurement_data[robot_idx][idx]
\ No newline at end of file