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made SINR threshold check bidirectional

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kdee committed 2026-07-05 20:54:59 -07:00
1 parent f9aa9cc44d
commit 1d414e2bd4
5 files changed
+64 -29
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@miSim/constrainMotion.m
+32 -10
View File
@@ -169,11 +169,11 @@ function [obj] = constrainMotion(obj)
end
end
else
% SINR comms: keep the SINR of each maintained link above threshold via
% the barrier h = SINR - gammaLin. Per the connectivity convention the
% lower-index agent (ii) receives the higher-index transmitter (jj). The
% gradient couples the receiver, transmitter, and every interferer, so
% the QP row is dense across all agent blocks.
% SINR comms: a link is feasible only if each agent receives the other
% above threshold, so every maintained pair is held with TWO barrier
% rows, h = SINR - gammaCbf, one per receiver direction. Each gradient
% couples the receiver, transmitter, and every interferer, so the QP
% rows are dense across all agent blocks.
% Maintain SINR a margin above the connectivity threshold so that
% discrete-time overshoot of the (convex) SINR does not transiently
% drop a maintained link below threshold. Mirrors the fixed-radius
@@ -188,19 +188,33 @@ function [obj] = constrainMotion(obj)
for ii = 1:(nAgents - 1)
for jj = (ii + 1):nAgents
if obj.constraintAdjacencyMatrix(ii, jj)
[sinr, grad] = obj.sinrLink(lastPositions, ii, jj); % receiver ii, transmitter jj
hComms(ii, jj) = sinr - gammaCbf;
% Direction 1: lower-index agent (ii) receives higher (jj).
% Upper triangle of hComms stores this direction's barrier.
[sinr1, grad1] = obj.sinrLink(lastPositions, ii, jj);
hComms(ii, jj) = sinr1 - gammaCbf;
% CBF row: A = -grad(h), b = h/dt (one-step forward invariance)
for aa = 1:nAgents
A(kk, (3 * aa - 2):(3 * aa)) = -grad(aa, :);
A(kk, (3 * aa - 2):(3 * aa)) = -grad1(aa, :);
end
if norm(A(kk, :)) < 1e-9
b(kk) = 0;
else
b(kk) = hComms(ii, jj) / obj.timestep;
end
kk = kk + 1;
% Direction 2: higher-index agent (jj) receives lower (ii).
% Lower triangle of hComms stores this direction's barrier.
[sinr2, grad2] = obj.sinrLink(lastPositions, jj, ii);
hComms(jj, ii) = sinr2 - gammaCbf;
for aa = 1:nAgents
A(kk, (3 * aa - 2):(3 * aa)) = -grad2(aa, :);
end
if norm(A(kk, :)) < 1e-9
b(kk) = 0;
else
b(kk) = hComms(jj, ii) / obj.timestep;
end
kk = kk + 1;
end
end
@@ -208,7 +222,15 @@ function [obj] = constrainMotion(obj)
end
if coder.target('MATLAB')
obj.barriers(idx:(idx + length(hComms(triu(true(size(hComms)), 1))) - 1), obj.timestepIndex) = hComms(triu(true(size(hComms)), 1));
if obj.useSinrComms
% Both directions are maintained: log the upper triangle
% (lower-index receiver) then the lower triangle (higher-index
% receiver), matching the doubled comms-barrier allocation.
commsLog = [hComms(triu(true(size(hComms)), 1)); hComms(tril(true(size(hComms)), -1))];
else
commsLog = hComms(triu(true(size(hComms)), 1));
end
obj.barriers(idx:(idx + numel(commsLog) - 1), obj.timestepIndex) = commsLog;
end
% Double-integrator: transform QP from velocity to acceleration space.
@miSim/initialize.m
+7 -2
View File
@@ -143,8 +143,13 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
% Comms barriers: size to the upper bound (full mesh) rather than the initial
% constraint-adjacency count. Connectivity is dynamic (lesser-neighbor and,
% especially, SINR) and can later maintain more pairs than at init; sizing to
% nAAPairs prevents the QP A/b matrices from overflowing mid-run.
nLNAPairs = nAAPairs;
% nAAPairs prevents the QP A/b matrices from overflowing mid-run. SINR mode
% enforces both directions per link, so it needs two barrier rows per pair.
if obj.useSinrComms
nLNAPairs = 2 * nAAPairs;
else
nLNAPairs = nAAPairs;
end
obj.numBarriers = nAAPairs + nAOPairs + nADPairs + nLNAPairs;
if coder.target('MATLAB')
@miSim/plotGraph.m
+11 -7
View File
@@ -36,15 +36,19 @@ function obj = plotGraph(obj)
for kk = 1:nAgents
positions(kk, :) = obj.agents{kk}.pos;
end
% Directional convention (matches updateAdjacency/constrainMotion):
% the lower-index node is the receiver, the higher-index node the
% transmitter, with interference from all other agents at the receiver.
% Labels are bare numbers (no units) so they stay compact; GraphPlot
% renders them horizontally, left-to-right.
% A link is feasible only if BOTH directions clear the threshold, so
% label each edge with the binding (worse) directional SINR: the min of
% the lower-index-receiver and higher-index-receiver links, with
% interference from all other agents at each receiver. Labels are bare
% numbers (no units) so they stay compact; GraphPlot renders them
% horizontally, left-to-right.
edgeLabels = strings(size(endNodes, 1), 1);
for ee = 1:size(endNodes, 1)
sinrLin = obj.sinrLink(positions, endNodes(ee, 1), endNodes(ee, 2));
edgeLabels(ee) = sprintf("%.1f", 10 * log10(sinrLin));
lo = endNodes(ee, 1);
hi = endNodes(ee, 2);
sinrLoRx = obj.sinrLink(positions, lo, hi); % receiver lo (lower index)
sinrHiRx = obj.sinrLink(positions, hi, lo); % receiver hi (higher index)
edgeLabels(ee) = sprintf("%.1f", 10 * log10(min(sinrLoRx, sinrHiRx)));
end
o(1).EdgeLabel = edgeLabels;
% Threshold goes in the existing single-line title (not a subtitle) so
@miSim/updateAdjacency.m
+9 -6
View File
@@ -23,9 +23,11 @@ function obj = updateAdjacency(obj)
end
end
else
% SINR model: pair (ii, jj) connected iff the lower-index agent (jj)
% receives the higher-index agent's (ii) signal above the SINR
% threshold, with interference from all other agents at the receiver.
% SINR model: a link between a pair is feasible only if BOTH directional
% SINRs clear the threshold, i.e. each agent receives the other's signal
% above gammaLin (with interference from all other agents at the
% receiver). Every ordered pair (permutation) is evaluated; a single
% failing direction eliminates the undirected link.
gammaLin = 10^(obj.sinrThreshold / 10); % dB threshold -> linear
positions = zeros(nAgents, 3);
for kk = 1:nAgents
@@ -33,9 +35,10 @@ function obj = updateAdjacency(obj)
end
for ii = 2:nAgents
for jj = 1:(ii - 1)
sinr = obj.sinrLink(positions, jj, ii); % receiver jj, transmitter ii
if sinr < gammaLin
A(ii, jj) = false; % SINR below threshold
sinrLoRx = obj.sinrLink(positions, jj, ii); % receiver jj (lower), transmitter ii
sinrHiRx = obj.sinrLink(positions, ii, jj); % receiver ii (higher), transmitter jj
if sinrLoRx < gammaLin || sinrHiRx < gammaLin
A(ii, jj) = false; % at least one direction below threshold
continue;
end
end
test/test_miSim.m
+5 -4
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@@ -857,18 +857,19 @@ classdef test_miSim < matlab.unittest.TestCase
% fixed-radius variant of this test (so the two agents still cannot
% reach their objectives without breaking connectivity).
useSinrComms = true;
txPower = 0.1; % transmit power per agent (W)
txPower = [0.01, 0.01]; % transmit power per agent (W)
pathLossExponent = 2.0;
ambientTemp = 290; % K
centerFreq = 2.4e9; % Hz
bandwidth = 20e6; % Hz
effRange = 4.0; % desired effective comms range (m)
K_pl = (4 * pi * centerFreq / 3e8)^2; % free-space path-loss reference
noiseW = 1.380649e-23 * ambientTemp * bandwidth; % thermal noise (W)
sinrThreshold = 10 * log10(txPower / (K_pl * effRange^pathLossExponent * noiseW)); % dB
sinrThreshold = 10 * log10(mean(txPower) / (K_pl * effRange^pathLossExponent * noiseW)); % dB
tc.agents{1}.txPower = txPower;
tc.agents{2}.txPower = txPower;
tc.agents{1}.txPower = txPower(1);
tc.agents{2}.txPower = txPower(2);
% Initialize the simulation in SINR comms mode
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing, useSinrComms, sinrThreshold, pathLossExponent, ambientTemp, centerFreq, bandwidth);