diff --git a/agent.m b/agent.m
index 1f338af..2340933 100644
--- a/agent.m
+++ b/agent.m
@@ -52,8 +52,16 @@ classdef agent
 
             % Plot points representing the agent position
             hold(f.CurrentAxes, "on");
-            scatter3(obj.pos(1), obj.pos(2), obj.pos(3), 'filled', 'ko', 'SizeData', 50);
+            o = scatter3(obj.pos(1), obj.pos(2), obj.pos(3), 'filled', 'ko', 'SizeData', 25);
             hold(f.CurrentAxes, "off");
+
+            % Check if this is a tiled layout figure
+            if strcmp(f.Children(1).Type, 'tiledlayout')
+                % Add to other perspectives
+                copyobj(o, f.Children(1).Children(2));
+                copyobj(o, f.Children(1).Children(3));
+                copyobj(o, f.Children(1).Children(5));
+            end
         end
     end
 end
\ No newline at end of file
diff --git a/firstPlotSetup.m b/firstPlotSetup.m
index d97b1f2..96182a4 100644
--- a/firstPlotSetup.m
+++ b/firstPlotSetup.m
@@ -1,8 +1,44 @@
 function f = firstPlotSetup(f)
     if isempty(f.CurrentAxes)
-        axes(f);
-        axis(f.CurrentAxes, "equal");
-        grid(f.CurrentAxes, "on");
-        view(f.CurrentAxes, 3);
+        tiledlayout(f, 4, 3, "TileSpacing", "tight", "Padding", "compact");
+
+        % Top-down view
+        nexttile(1, [1, 2]);
+        axes(f.Children(1).Children(1));
+        axis(f.Children(1).Children(1), "image");
+        grid(f.Children(1).Children(1), "on");
+        view(f.Children(1).Children(1), 0, 90);
+        xlabel(f.Children(1).Children(1), "X"); ylabel(f.Children(1).Children(1), "Y");
+
+        % Communications graph
+        nexttile(3, [1, 1]);
+        axes(f.Children(1).Children(1));
+        axis(f.Children(1).Children(1), "image");
+        grid(f.Children(1).Children(1), "off");
+        view(f.Children(1).Children(1), 0, 0);
+
+        % 3D view
+        nexttile(4, [2, 2]);
+        axes(f.Children(1).Children(1));
+        axis(f.Children(1).Children(1), "image");
+        grid(f.Children(1).Children(1), "on");
+        view(f.Children(1).Children(1), 3);
+        xlabel(f.Children(1).Children(1), "X"); ylabel(f.Children(1).Children(1), "Y"); zlabel(f.Children(1).Children(1), "Z");
+
+        % Side-on view
+        nexttile(6, [2, 1]);
+        axes(f.Children(1).Children(1));
+        axis(f.Children(1).Children(1), "image");
+        grid(f.Children(1).Children(1), "on");
+        view(f.Children(1).Children(1), 90, 0);
+        ylabel(f.Children(1).Children(1), "Y"); zlabel(f.Children(1).Children(1), "Z");
+
+        % Front-on view
+        nexttile(10, [1, 2]);
+        axes(f.Children(1).Children(1));
+        axis(f.Children(1).Children(1), "image");
+        grid(f.Children(1).Children(1), "on");
+        view(f.Children(1).Children(1), 0, 0);
+        xlabel(f.Children(1).Children(1), "X"); zlabel(f.Children(1).Children(1), "Z");
     end
 end
\ No newline at end of file
diff --git a/geometries/rectangularPrism.m b/geometries/rectangularPrism.m
index eba190b..8af3d31 100644
--- a/geometries/rectangularPrism.m
+++ b/geometries/rectangularPrism.m
@@ -180,8 +180,16 @@ classdef rectangularPrism
 
             % Plot the boundaries of the geometry
             hold(f.CurrentAxes, "on");
-            plot3(X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2);
+            o = plot3(X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2);
             hold(f.CurrentAxes, "off");
+
+            % Check if this is a tiled layout figure
+            if strcmp(f.Children(1).Type, 'tiledlayout')
+                % Add to other perspectives
+                copyobj(o, f.Children(1).Children(2));
+                copyobj(o, f.Children(1).Children(3));
+                copyobj(o, f.Children(1).Children(5));
+            end
         end
     end
 end
\ No newline at end of file
diff --git a/sensingObjective.m b/sensingObjective.m
index 293f624..b468018 100644
--- a/sensingObjective.m
+++ b/sensingObjective.m
@@ -58,12 +58,25 @@ classdef sensingObjective
             % Create axes if they don't already exist
             f = firstPlotSetup(f);
 
-            % Plot gradient on the "floor" of the domain
-            hold(f.CurrentAxes, "on");
-            s = surf(obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none');
-            s.HitTest = 'off';
-            s.PickableParts = 'none';
-            hold(f.CurrentAxes, "off");
+            % Check if this is a tiled layout figure
+            if strcmp(f.Children(1).Type, 'tiledlayout')
+                % Plot gradient on the "floor" of the domain
+                hold(f.Children(1).Children(3), "on");
+                o = surf(f.Children(1).Children(3), obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none');
+                o.HitTest = 'off';
+                o.PickableParts = 'none';
+                hold(f.Children(1).Children(3), "off");
+
+                % Add to other perspectives
+                copyobj(o, f.Children(1).Children(5));
+            else
+                % Plot gradient on the "floor" of the domain
+                hold(f.CurrentAxes, "on");
+                o = surf(obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none');
+                o.HitTest = 'off';
+                o.PickableParts = 'none';
+                hold(f.CurrentAxes, "off");
+            end
         end
     end
 end
\ No newline at end of file
diff --git a/test_miSim.m b/test_miSim.m
index 3c8c6d8..8586776 100644
--- a/test_miSim.m
+++ b/test_miSim.m
@@ -238,9 +238,9 @@ classdef test_miSim < matlab.unittest.TestCase
             f = tc.testClass.domain.plotWireframe;
 
             % Set plotting limits to focus on the domain
-            xlim([tc.testClass.domain.minCorner(1) - 0.5, tc.testClass.domain.maxCorner(1) + 0.5]);
-            ylim([tc.testClass.domain.minCorner(2) - 0.5, tc.testClass.domain.maxCorner(2) + 0.5]);
-            zlim([tc.testClass.domain.minCorner(3) - 0.5, tc.testClass.domain.maxCorner(3) + 0.5]);
+            xlim([tc.testClass.domain.minCorner(1), tc.testClass.domain.maxCorner(1)]);
+            ylim([tc.testClass.domain.minCorner(2), tc.testClass.domain.maxCorner(2)]);
+            zlim([tc.testClass.domain.minCorner(3), tc.testClass.domain.maxCorner(3)]);
 
             % Plot obstacles
             for ii = 1:size(tc.testClass.obstacles, 1)