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fixed and verified communications constraint

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This commit is contained in:
Kevin Dee
2026-01-06 12:24:42 -08:00
parent 4fe897455d
commit 1e7540226e
11 changed files with 89 additions and 34 deletions
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63
test/test_miSim.m
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@@ -491,6 +491,9 @@ classdef test_miSim < matlab.unittest.TestCase
tc.testClass.run();
end
function test_obstacle_avoidance(tc)
% Right now this seems to prove that the communications
% constraints are working, but the result is dissatisfying
% Fixed single obstacle
% Fixed two agents initial conditions
% Exaggerated large collision geometries
@@ -506,30 +509,76 @@ classdef test_miSim < matlab.unittest.TestCase
d = [3, 0, 0];
geometry1 = spherical;
geometry2 = geometry1;
geometry1 = geometry1.initialize(tc.domain.center - d + [0, radius * 1.5, 0], radius, REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize(tc.domain.center - d - [0, radius * 1.5, 0], radius, REGION_TYPE.COLLISION);
geometry1 = geometry1.initialize(tc.domain.center - d + [0.1, radius * 1.1, 0], radius, REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize(tc.domain.center - d - [0.1, radius * 1.1, 0], radius, REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
alphaDist = l/2; % half of domain length/width
sensor = sensor.initialize(alphaDist, 3, NaN, NaN, 15, 3);
% Initialize agents
tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, 10);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry2, sensor, 10);
% Initialize obstacles
obstacleLength = 1;
tc.obstacles{1} = rectangularPrism;
tc.obstacles{1} = tc.obstacles{1}.initialize([tc.domain.center(1:2) - obstacleLength, tc.minAlt; tc.domain.center(1:2) + obstacleLength, tc.domain.maxCorner(3)], REGION_TYPE.OBSTACLE, "Obstacle 1");
% Initialize agents
commsRadius = (2*radius + obstacleLength) * 0.9; % defined such that they cannot go around the obstacle on both sides
tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0.1, radius * 1.1, 0], zeros(1,3), 0, 0, geometry1, sensor, commsRadius);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0.1, radius *1.1, 0], zeros(1,3), 0, 0, geometry2, sensor, commsRadius);
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, 100, tc.obstacles, tc.makeVideo);
% Run the simulation
tc.testClass.run();
end
function test_communications_constraint(tc)
% No obstacles
% Fixed two agents initial conditions
% Negligible collision geometries
% Non-standard domain with two objectives that will try to pull the
% agents apart
l = 10; % domain size
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);
% Initialize agent collision geometry
radius = 0.1;
d = [1, 0, 0];
geometry1 = spherical;
geometry2 = geometry1;
geometry1 = geometry1.initialize(dom.center + d, radius, REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize(dom.center - d, radius, REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
alphaDist = l/2; % half of domain length/width
sensor = sensor.initialize(alphaDist, 3, NaN, NaN, 15, 3);
% Initialize obstacles
tc.obstacles = {};
% Initialize agents
commsRadius = 4; % defined such that they cannot reach their objective without breaking connectivity
tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(dom.center + d, zeros(1,3), 0, 0, geometry1, sensor, commsRadius);
tc.agents{2} = tc.agents{2}.initialize(dom.center - d, zeros(1,3), 0, 0, geometry2, sensor, commsRadius);
% Initialize the simulation
tc.testClass = tc.testClass.initialize(dom, dom.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, 30, tc.obstacles, false, false);
% Run the simulation
tc.testClass = tc.testClass.run();
% Assert that at some step, performance decreased
% Indicating that the communications constraint pulled agents
% together, away from their objectives
tc.verifyTrue(any(diff(tc.testClass.performance) < 0));
end
function test_obstacle_blocks_comms_LOS(tc)
% Fixed single obstacle
% Fixed two agents initial conditions