Hey Pat,
I am also descended from Lancelot, more specifically, Lancelot's son, John. I believe so. I'm still trying to back up my information from documents, but the information I have was garnered from public family trees. If they weren't free men, I wonder if they'd show up on an inventory of indentured servants...probably is you'd have to find records from every person with that. Might be able to find it on ships registries though.
-Amanda