diff --git a/@sensingObjective/initializeRandomMvnpdf.m b/@sensingObjective/initializeRandomMvnpdf.m
index 4f9528d..b6405e4 100644
--- a/@sensingObjective/initializeRandomMvnpdf.m
+++ b/@sensingObjective/initializeRandomMvnpdf.m
@@ -14,13 +14,12 @@ function obj = initializeRandomMvnpdf(obj, domain, discretizationStep, protected
     while domain.distance(mu) < protectedRange
         mu = domain.random();
     end
-    mu = mu(1:2);
 
     % Set random distribution parameters
     sig = [2 + rand * 2, 1; 1, 2 + rand * 2];
 
     % Set up random bivariate normal distribution function
-    objectiveFunction = @(x, y) mvnpdf([x(:), y(:)], mu, sig);
+    objectiveFunction = objectiveFunctionWrapper(mu(1:2), sig);
 
     % Regular initialization
     obj = obj.initialize(objectiveFunction, domain, discretizationStep, protectedRange);
diff --git a/test/test_miSim.m b/test/test_miSim.m
index 98a8b30..faadb33 100644
--- a/test/test_miSim.m
+++ b/test/test_miSim.m
@@ -363,7 +363,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.domain = tc.domain.initialize([zeros(1, 3); 10 * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
 
             % make basic sensing objective
-            tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2)), tc.domain, tc.discretizationStep, tc.protectedRange);
+            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(tc.domain.center(1:2)), tc.domain, tc.discretizationStep, tc.protectedRange);
         
             % Initialize agent collision geometry
             dh = [0,0,-1]; % bias agent altitude from domain center
@@ -408,7 +408,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
 
             % make basic sensing objective
-            tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2) + rand(1, 2) * 6 - 3), tc.domain, tc.discretizationStep, tc.protectedRange);
+            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(tc.domain.center(1:2) + rand(1, 2) * 6 - 3), tc.domain, tc.discretizationStep, tc.protectedRange);
         
             % Initialize agent collision geometry
             geometry1 = rectangularPrism;
@@ -441,7 +441,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
 
             % make basic sensing objective
-            tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange);
+            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange);
         
             % Initialize agent collision geometry
             geometry1 = rectangularPrism;
@@ -479,7 +479,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
 
             % make basic sensing objective
-            tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [3, 7]), tc.domain, tc.discretizationStep, tc.protectedRange);
+            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([3, 7]), tc.domain, tc.discretizationStep, tc.protectedRange);
         
             % Initialize agent collision geometry
             radius = 1.5;
@@ -519,7 +519,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
 
             % make basic sensing objective
-            tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [8, 5.2195]), tc.domain, tc.discretizationStep, tc.protectedRange);
+            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5.2195]), tc.domain, tc.discretizationStep, tc.protectedRange);
         
             % Initialize agent collision geometry
             radius = 1.1;
@@ -565,7 +565,7 @@ classdef test_miSim < matlab.unittest.TestCase
             dom = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
 
             % make basic sensing objective
-            dom.objective = dom.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [2, 8]) + mvnpdf([x(:), y(:)], [8, 8]), tc.domain, tc.discretizationStep, tc.protectedRange);
+            dom.objective = dom.objective.initialize(objectiveFunctionWrapper([2, 8; 8, 8]), tc.domain, tc.discretizationStep, tc.protectedRange);
         
             % Initialize agent collision geometry
             radius = 0.1;
@@ -605,7 +605,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
 
             % make basic sensing objective
-            tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
+            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
         
             % Initialize agent collision geometry
             radius = .25;
@@ -649,7 +649,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
 
             % make basic sensing objective
-            tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
+            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
         
             % Initialize agent collision geometry
             radius = .01;
@@ -698,7 +698,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
 
             % make basic sensing objective
-            tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
+            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
         
             % Initialize agent collision geometry
             radius = .01;
diff --git a/util/objectiveFunctionWrapper.m b/util/objectiveFunctionWrapper.m
index 631ef20..751f710 100644
--- a/util/objectiveFunctionWrapper.m
+++ b/util/objectiveFunctionWrapper.m
@@ -1,13 +1,15 @@
-function f = objectiveFunctionWrapper(center)
+function f = objectiveFunctionWrapper(center, sigma)
     % Convenience function to generate MVNPDFs at a point
     % Makes it look a lot neater to instantiate and sum these to make
     % composite objectives in particular
     arguments (Input)
-        center (1, 2) double;
+        center (:, 2) double;
+        sigma (2, 2) double = eye(2);
     end
     arguments (Output)
         f (1, 1) {mustBeA(f, 'function_handle')};
     end
+    
+    f = @(x,y) sum(cell2mat(arrayfun(@(i) mvnpdf([x(:), y(:)], center(i,:), sigma), 1:size(center,1), 'UniformOutput', false)), 2);
 
-    f = @(x, y) mvnpdf([x(:), y(:)], center);
 end
\ No newline at end of file